Automated hand

ABSTRACT

The invention relates to an automated hand, such as a prosthetic hand. In one form, the automated hand may be fluid compatible. In one form, the automated hand may comprise features to reduce the risk of harm to motors and/or other sensitive components of the hand when subject to an impact. In one form, the hand may comprise a wrist joint configured to allow the hand to curl and flex and/or to rotate. In one form, one or more digits of the hand may be individually controlled. In one form the hand may include a thumb rotation locking mechanism. In one form the hand may be provided with removable grip plates. In one form, the hand may be configured for use as a training hand.

RELATED APPLICATIONS

This application is a Continuation-in-Part of U.S. Ser. No. 14/420,706,filed 10 Feb. 2015, now U.S. Pat. No. 9,814,604, which is a NationalStage of PCT/NZ2013/000140, filed 12 Aug. 2013, which claims benefit ofU.S. Provisional Ser. No. 61/682,291, filed 12 Aug. 2012, and whichapplications are incorporated herein by reference in their entireties.For convenience, a copy of U.S. Ser. No. 14/420,706 is attached heretoat Appendix A.

This application is a Continuation-in-Part of PCT/NZ2016/050163, filed 5Oct. 2016, which claims benefit of U.S. Provisional Ser. No. 62/237,089,filed 5 Oct. 2015 and NZ Application No. 722088, filed 12 Jul. 2016, andwhich applications are incorporated herein by reference in theirentireties.

To the extent appropriate, a claim of priority is made to each of theabove disclosed applications.

TECHNICAL FIELD

The invention relates to an automated hand, such as a prosthetic hand,and components for an automated hand.

BACKGROUND OF THE INVENTION

Automated hands are commonly used as prosthetic hands, which may be usedto grip objects, shake the hand of another person, and perform othertasks commonly carried out by human hands.

However, conventional automated hands have several disadvantages. Manyof the hands are necessarily large and bulky to fit the working partswithin the hand. This can result in the hand looking unnatural.

Conventional automated hands are typically unable to flex and curvearound an object to grip the object reliably. This is particularlyproblematic where the object is curved or slippery, such as a drinkingglass or bottle. The motors of known automated hands may also strain toprovide an adequate grip and therefore wear quickly. Further, becausethese hands do not curve and flex, the hands can also feel unnatural ina handshake.

Because of the typically rigid nature of conventional automated hands,it is common for sensitive components of these hands, such as motors andelectronics, to break under impact forces, particularly a lateral impactforce where the side of the hand near the little finger is bangedagainst a hard surface or where an outer edge of the thumb receives alateral impact.

Another problem with known automated hands is that the hands themselvesare not waterproof. Instead, a user must wear a waterproof glove overthe hand to protect the sensitive working parts and electroniccomponents of the hand.

Known automated hands commonly comprise complex finger actuation systemsthat comprise resistance springs to bias the fingers towards aparticular position and absorb impact. When the motors of the hand drivethe fingers to a non-biased position, the resistance from the springscauses the fingers to move more slowly than desired and may strain thedrive motors and drain the battery power quickly. Some designs includeone directional clutches to absorb impact forces but these do notprotect against impacts in the opposite direction. Motors may also beprovided within digits with a worm gear driving the digit relative to astationary gear wheel. This arrangement increases the mass that must bemoved when moving a digit, requires wiring along the digits andrestricts the space available for linkages. Due to the confined space itis very difficult to accommodate clutch mechanisms.

The motors and working parts of known automated hands are alsosusceptible to damage when digits of the hands are subjected to too muchtension or to an end impact. This is because the digits are typicallydirectly connected to the motors and are unable to disengage from themotors when subjected to high forces.

Conventional automated hands may provide a wrist positioning system, butthese systems are typically complex, large and cumbersome, which extendsthe palm away from the arm creating an extended, heavy, ungainly andunnatural looking wrist. In addition, there are limited ways in whichthe hand can move in relation to the wrist and the wrist is typicallynot fluid compatible.

Although it is known for automated hands to be used as training handsfor new hand amputees, these hands do not provide an indication that EMG(electromyography) signals have been received by the user and/or whichgrip has been selected. Consequently, hand amputees may find itfrustrating to become accustomed to the EMG algorithms needed to changethe grip patterns of the hand, especially when they cannot tell whichgrip pattern has been selected or whether EMG signals are beingreceived.

A significant disadvantage of known automated hands is that the workingparts, especially the electronics, are sensitive to getting wet.Consequently, the naked hands cannot be used in a wet environment, suchas in a bath, shower, or when washing dishes, without becoming damaged.It is only possible to use known hands in a wet environment by placing awaterproof glove over the hand. This can be frustrating for a userbecause it is difficult to place a glove over a prosthetic hand. Thegloves may also wear and tear easily.

Grip surfaces on automated hands may also suffer from excessive wear ifcontact surfaces are formed of a material that is too soft and may notprovide suitable grip if the material is hard wearing and formed of ashard material.

It is therefore an object of the invention to provide an automated handthat goes at least some way towards overcoming one or more of thedisadvantages of the prior art, or that at least provides a usefulalternative to existing automated hands.

SUMMARY OF THE INVENTION

In a first aspect there is provided an automated hand comprising a palm;one or more resiliently flexible and compressible mounts attached to thepalm; and one or more connectors, each having a digit extendingtherefrom that is moveable relative to the palm, each connector mountedto a respective mount such that each connector may rotate about themount when a lateral force is applied to a digit.

Each connector may rotate in the plane of the palm or in a plane normalto the plane of the palm. A single integral mount may be provided or anumber of separate mounts may be provided. The mounts may suitably beformed of a material having a DMTA damping factor of between 0.05 to0.8, preferably between 0.05 to 0.5, over a temperature range of −20° C.to 100° C. The material preferably has a resilience of between 20% to60% and a Shore A hardness of between 10 to 90 (more preferably a ShoreA hardness of between 30 to 60) or alternatively a Shore D hardness ofbetween 40 to 90. A metacarpal brace comprising a number of mounts or asingle mount with multiple apertures preferably has such resilience thatat least two digits may be splayed apart by at least 5 degrees due torelative movement between the actuators and palm allowed by elasticdeformation of the metacarpal brace, and preferably at least 10 degrees,and more preferably at least 20 degrees. The metacarpal brace preferablyalso provides impact absorption for forces applied to a digit in adirection normal to the palm such that each actuator may rotate by atleast 2 degrees (preferably 5 degrees and more preferably 10 degrees)relative to the palm due to elastic deformation of the metacarpal brace.A force of between 2.5 and 20 Newtons applied laterally or normal to thetip of a digit preferably results in angular rotation with respect tothe palm in the plane of the palm of at least 3 degrees, preferably atleast 5 degrees, due to elastic deformation of the metacarpal brace.

The metacarpal brace may be formed of elastomers, rubber, silicone,compressible polymers or thermoplastics materials. Preferably thematerial is a thermoset elastomer (either hydrocarbon, fluorocarbon orsilica-based), a thermoplastic elastomer, a thermoset rubber, aninherently soft thermoplastic. It may also be an alloy or blend or afoamed composition of any of the above polymers.

In another aspect there is provided an automated hand comprising: apalm; a resilient mount secured to the palm including a recess forreceiving an actuator; and a first actuator having a proximal end and adistal end, the proximal end mounted within the recess and the distalend having a thumb extending therefrom in which the resilient mountpermits relative angular displacement of the first actuator with respectto the palm of at least 2 degrees. The first actuator may rotate thethumb relative to the palm in a first plane of rotation, the handincluding a first engagement surface mounted on the thumb and a secondengagement surface mounted on the palm such that during a grippingmovement of the thumb the actuator is displaced with respect to the palmso as to bring the engagement surfaces into contact to restrain movementin the first plane.

According to a further aspect there is provided an automated handcomprising: a palm; a first actuator having a proximal end and a distalend, the proximal end pivotally mounted to the palm and having a thumbextending therefrom, the actuator rotating the thumb relative to thepalm in a first plane of rotation; and a first engagement surfacemounted on the thumb and a second engagement surface mounted on the palmsuch that during a gripping movement of the thumb the actuator isdisplaced with respect to the palm so as to bring the engagementsurfaces into contact to restrain movement in the first plane.

According to a further aspect there is provided an automated handcomprising: a palm; a digit extending from the palm; an actuator drivinga gear wheel; and an overload protection clutch driven by the gear wheelat its input to cause the digit connected to its output to move andhaving bidirectional overload protection so that when the rotationalforce applied to the clutch exceeds a limit the clutch allows relativerotation between its input and output.

According to a further aspect there is provided an automated handcomprising: a palm; a gear wheel connected to the palm via a clutch; anda digit extending from the palm including an actuator driving a gearengaged with the gear wheel so as to cause rotation of the digit withrespect to the palm, wherein the clutch is an overload protection clutchhaving bidirectional overload protection so that when the rotationalforce applied to the clutch by the gear wheel exceeds a limit the clutchallows relative rotation between the digit and the palm.

According to a further aspect there is provided an automated handcomprising: a palm; and two or more digits extending from the palm; oneor more motors configured to cause at least one of the digits to move;and a wrist joint configured to connect the palm to an arm member,wherein the wrist joint comprises an axle having opposing ends thatengage with the palm to allow the palm to rotate about the axle; and alocking mechanism located in the palm configured to lock the palm in afixed position relative to an arm member.

According to a further aspect there is provided an automated handcomprising: a sealed palm region that is waterproof when submerged influid; two or more sealed knuckle joints mounted to the palm; two ormore digits extending from respective sealed knuckle joints; and one ormore actuators mounted within the sealed palm region which drive thesealed knuckle joints so as to cause the digits to move.

According to a further aspect the invention provides an automated handcomprising: a palm; two or more digits extending from the palm; and oneor more drive motors configured to cause at least one of the digits tomove. Each digit is attached to the palm by a connector comprising aknuckle joint and a connecting arm. The automated hand also comprises aresiliently flexible and compressible metacarpal brace extending betweentwo or more connectors. The metacarpal brace comprises a first end, asecond end, and one or more support apertures. Each support aperture isconfigured to hold at least a portion of a connecting arm therein.

One or more support apertures extend between the first end and secondend of the metacarpal brace.

Optionally, each support aperture is substantially cylindrical and eachconnecting arm is substantially cylindrical and is configured to nestwithin a respective support aperture.

In one form, the hand comprises an anti-rotation system configured toprevent rotation of one or more digit supports within one or moresupport apertures of the metacarpal brace.

In one form, at least one support aperture comprises at least one stopconfigured to engage with a corresponding stop of the connecting arm toprevent rotation of the connecting arm within the support aperture.Preferably, the support aperture comprises at least one recess oropening configured to engage with at least one projection to hold theprojection within the recess or opening.

In one form, at least one connector comprises a connecting arm, a motorhousing and a knuckle joint located between the connecting arm and motorhousing. The motor housing is located within one of the digits and theconnecting arm is located within the palm.

Preferably, at least one connecting arm comprises a motor housing forhousing a drive motor.

Optionally, the metacarpal brace is made of one or more materials of thegroup consisting of the following: an elastomer, rubber, silicone, acompressible polymer.

According to a further aspect, the invention provides a resilientlyflexible and compressible metacarpal brace comprising a first end, asecond end substantially opposite the first end, and further comprisingone or more apertures extending between the first end and second end.

According to a further aspect, the invention provides an automated handcomprising: a palm; and two or more digits extending from the palm;wherein at least one digit forms a thumb mounted at or near a first sideof the palm of the hand, wherein the thumb substantially opposes atleast one other digit and wherein the hand comprises a compressiblethumb cushion positioned in contact with a portion of the thumb. Thecompressible thumb cushion may be configured to dampen lateral movementof the thumb under a lateral impact and to provide grip compliance.

Preferably, the thumb is connected to a base member that extends to oneside of the thumb, and the compressible thumb cushion is mounted on thebase member.

Preferably, one side of the compressible thumb cushion is positioned incontact with one side of the thumb.

In one form, the thumb comprises a first motor configured to cause thethumb to curl and flex about a second axis. Preferably, the first motoris housed within the thumb.

In one form, the thumb comprises a second motor configured to cause thethumb to hinge toward and away from a second side of the palm about afirst axis, the second side being substantially opposite the first side.Preferably, the second motor is housed within the base member.

The hand may also comprise a thumb support comprising a first surface,wherein the base member is configured to be located on the first surfaceof the thumb support. Preferably, the thumb support comprises a firstsurface comprising a sloping first recess configured to receive at leasta portion of the base member therein and wherein the angle of the recessis inclined toward the thumb.

The first recess may comprise an opening at its deepest end.

The thumb support may further comprise a second recess and the thumbcomprises a bottom surface comprising a projection extending from thebottom surface; wherein the projection is configured to be receivedwithin the second recess.

In one form, the projection and second recess are both elongate andextend in a direction substantially perpendicular to the length of thebase member. Preferably, the projection and recess are bothsemi-cylindrical.

According to a further aspect, the invention provides an automated handcomprising: a palm; two or more digits extending from the palm; one ormore motors configured to cause at least one of the digits to move; andat least one clutch device. The clutch device is configured to engageand disengage one of the motors from driving a first digit. The clutchdevice is also configured to engage with the first digit. The clutchdevice comprises a driven element comprising a contact surface and beingconfigured to be caused to rotate by the motor. The clutch device alsocomprises a clamping member comprising a first surface configured toengage with the contact surface of the driven element; and a compressionmember configured to cause the first surface of the clamping member topress against the contact surface of the driven element.

Preferably, the contact surface of the driven element comprises one ormore male engagement members and the clamping member comprises one ormore female engagement members. Each male engagement member may beconfigured to be at least partially received in a respective femaleengagement member to engage the driven element and clamping member witheach other.

In one form, each of the one or more female engagement members comprisesa substantially concave recess. Preferably, each of the one or more maleengagement members comprises a substantially convex or sphericalprojection.

Preferably, the contact surface of the driven element comprises one ormore apertures. Each aperture comprises a closed end and is configuredto receive a male engagement member at or near the contact surface, suchthat the male engagement member projects from the contact surface andwherein the compression member is held within the aperture between themale engagement member and the closed end of the aperture.

Preferably, the compression member is a spring held under compression.

In one form, the male engagement member is a ball, such as a ballbearing. In another form, the male engagement member may be a nib.

Preferably, the contact surface of the driven element comprises one ormore female engagement members and the clamping member comprises one ormore male engagement members. Each male engagement member may beconfigured to be at least partially received in a respective femaleengagement member to engage the driven element and clamping member witheach other.

Preferably, each of the one or more female engagement members comprisesa substantially concave recess. More preferably, each of the one or moremale engagement members comprises a substantially convex or sphericalprojection.

In one form, the first surface of the clamping member comprises one ormore apertures, wherein each aperture comprises a closed end and isconfigured to receive a male engagement member at or near the firstsurface, and wherein the compression member is held within the aperturebetween the male engagement member and the closed end of the aperture.

Preferably, the compression member is a spring held under compression.

In one form, the male engagement member is a ball, such as a ballbearing. In another form, the male engagement member may be a nib.

Preferably, the clamping member comprises a second surface configured toengage with the first digit.

In one form, the clamping member comprises a first element comprisingthe first surface of the clamping member. The clamping member alsocomprises a second element comprising a second surface of the clampingmember. The compression member comprises a spring washer located betweenthe first and second surfaces.

Preferably, one or more male engagement members project from the firstsurface of the clamping member and are configured to engage with one ormore female engagement members provided on the contact surface of thedriven element.

In one form, the second surface of the clamping member is configured toengage with the body of the first digit. The body of the first digitcomprises an inner surface comprising a receiving element configured toreceive the second surface of the clamping member therein.

Preferably, the receiving element comprises an aperture, recess, or areadefined by at least one wall bordering the area or by a plurality ofprojecting arms.

In one form, the contact surface of the driven element is substantiallycircular and the clamping member comprises a body comprising two endportions and a substantially concave inner surface comprising the firstsurface of the clamping member and being configured to substantiallysurround at least half of the contact surface of the driven element. Thecompression member is configured to press at least one end portion ofthe clamping member toward the other end portion to clamp the firstsurface of the clamping member against the contact surface of the drivenelement.

In another form, the contact surface of the driven element issubstantially circular and the clamping member comprises a substantiallyring shaped body comprising two end portions extending from the ringshaped body. The substantially ring shaped body comprises an innersurface comprising the first surface of the clamping member andconfigured to substantially surround the contact surface of the drivenelement. The compression member is configured to press at least one endportion of the clamping member toward the other end portion to clamp thefirst surface of the clamping member against the contact surface of thedriven element.

Preferably, the clamping member is configured to engage with the body ofthe first digit.

In one form, an inner surface of the body of the first digit comprises areceiving element configured to receive at least a portion of theclamping member therein. The receiving element comprises a recess shapedto key with the clamping member.

Preferably, the driven element and clamping element are supported by acommon axle passing through an axle receiving aperture formed in thedriven element and clamping element.

According to a further aspect, the invention provides an automated handcomprising: a palm; and two or more digits extending from the palm; oneor more motors configured to cause at least one of the digits to move;and a wrist joint configured to connect the palm to an arm member. Thewrist joint comprises an axle having opposing ends that engage with thepalm to allow the palm to rotate about the axle.

Preferably, the positioning system further comprises a positioningmember that engages with the axle and a lock configured to lock the palmin a fixed position relative to the positioning member. The lock and atleast a portion of the positioning member are located within the palm ofthe hand.

In one form, the positioning system comprises an axle located within thepalm of the hand; a positioning member comprising a locking arm locatedwith the palm; and a locking member located within the palm. The lockingmember is configured to engage with the positioning member to lock thepalm in a neutral position, a flexion position, or an extensionposition.

Preferably, the locking arm comprises a plurality of openings and thelocking member comprises a locking pin configured to be received withinany of the openings.

Preferably, the axle is supported within the palm by a pair ofsubstantially compressible axle mounts.

Preferably, the wrist joint further comprises a connector configured toattach to the positioning member and to attach to the arm member.

Preferably, the positioning member is configured to rotate relative tothe connector.

In one form, the positioning member comprises at least one lockingfinger and the connector comprises a series of indexing nodulesconfigured to engage with the locking finger(s) to lock the positioningmember in position relative to the connector. The at least one lockingfinger is configured to disengage from the indexing nodules when thepositioning member is caused to rotate relative to the connector.

Preferably, the wrist joint further comprises a watertight seal locatedbetween the positioning member and the connector.

According to a further aspect, the invention provides a wrist joint foran electric terminal device, wherein the wrist joint is configured toattach to the electric terminal device and to an arm member and whereinthe wrist joint comprises a body comprising a first end and a secondend, the second end being configured to face toward the arm member andcomprising an aperture extending into a substantially hollow region ofthe wrist joint body to allow a portion of a user's stump to extendthrough at least a portion of the wrist joint.

Preferably, the aperture extends between the first and second ends ofthe wrist joint.

In one form, the wrist joint further comprises an axle that is rotatablyattached to the palm to allow the palm to hinge relative to the wristjoint.

Preferably, the electric terminal device comprises a powered hook.

Alternatively, the electric terminal device comprises an automated hand.

According to a further aspect, the invention provides an automated handcomprising: a palm; two or more digits extending from the palm; one ormore motors configured to cause the digits to move; and a control systemconnected to the one or more motors and configured to receive: one ormore EMG signals from a user; one or more electronic signals from a userinterface; or one or more EMG signals from a user and one or moreelectronic signals from a user interface, and to cause the digits toassume a predetermined grip pattern depending on the signal(s) received,wherein the control system is programmable to cause the hand to assume apredetermined grip pattern based on the signals received. A selectedgrip pattern may be displayed on a display.

The hand may further comprise one or more indicators that a signal hasbeen received by the control system. At least one of the indicators maybe a visual indicator. In one form, the hand may comprise at least onevisual indicator that a signal has been received by the control system.

The hand preferably comprises a user interface comprising one or moreinput members through which a user may cause the hand to assume apredetermined grip pattern.

The one or more input members may comprise one or more buttons.Preferably, the user interface comprises a panel comprising one or moreinput members and one or more visual indicators.

According to a further aspect, the invention provides an automated handcomprising: a palm; two or more digits extending from the palm; and oneor more motors configured to cause at least one of the digits to move;wherein the automated hand is configured to operate when submerged in afluid.

Preferably, the hand comprises a wrist joint configured to attach thepalm to a lower arm member comprising a sleeve and also configured toform a watertight attachment to the sleeve.

Preferably, the wrist joint comprises an axle about which the palm cancurl and flex and/or rotate laterally.

In one form, the wrist joint is configured to hold electrical connectorsthat connect electronics in the sleeve with electronics in the palmand/or digits of the hand.

In yet another aspect, the invention provides an automated handsubstantially as described herein and with reference to the accompanyingdrawings, either individually or in combination with any feature, and inany configuration.

Any reference to prior art documents in this specification is not to beconsidered an admission that such prior art is widely known or formspart of the common general knowledge in the field.

As used in this specification, the words “comprises”, “comprising”, andsimilar words, are not to be interpreted in an exclusive or exhaustivesense. In other words, they are intended to mean “including, but notlimited to”.

BRIEF DESCRIPTION OF THE FIGURES

The invention is further described with reference to the followingdrawings, in which:

FIG. 1 is a side view of one form of automated hand of the invention;

FIG. 2 is a perspective view from below of the automated hand of FIG. 1;

FIG. 3 is an exploded view of one form of automated hand of theinvention;

FIG. 4A is a side perspective view of one form of metacarpal brace ofthe invention;

FIG. 4B is a front perspective view of the metacarpal brace of FIG. 4A;

FIG. 4C is another side perspective view of the metacarpal brace of FIG.4A;

FIG. 4D is a bottom perspective view of the metacarpal brace of FIG. 4A;

FIG. 5 is a partially cut away plan view of one form of automated handof the invention;

FIG. 6 is a perspective view of the automated hand of FIG. 5;

FIG. 7 is an exploded view of one form of thumb, thumb support and thumbcushion of the invention;

FIG. 8 is an exploded view of one form of palm and thumb configurationof the invention;

FIG. 9 is an exploded view of one form of digit and clutch device of theinvention;

FIG. 10A is a side view of part of a digit and knuckle of the invention;

FIG. 10B is a cross-sectional view of one form of digit and clutchdevice taken along line A-A of FIG. 10A;

FIG. 11A is a plan view of one form of automated hand in a grippingposition;

FIG. 11B is a cross-sectional side view of the hand taken along line B-Bof FIG. 11A;

FIG. 12A is a plan view of one form of automated hand of the inventionin an open position;

FIG. 12B is a cross-sectional side view of the hand taken along line C-Cof FIG. 12A;

FIG. 13 is an exploded view of another form of clutch device of theinvention;

FIG. 14A is an exploded view of yet another form of clutch device of theinvention;

FIG. 14B is a side view of part of a finger bearing the clutch device ofFIG. 14A;

FIG. 14C is a cross-sectional view through line G-G of FIG. 14B;

FIG. 15 is an exploded view of one form of wrist positioning system ofthe invention;

FIG. 16 is an exploded view of the wrist positioning system of FIG. 15from another angle;

FIG. 17A is a partial plan view of one form of automated hand of theinvention with a wrist in a neutral position;

FIG. 17B is a cross-sectional side view of the hand taken along line D-Dof FIG. 17A;

FIG. 17C is a cross-sectional side view of the hand taken along line D-Dof FIG. 17A but in a curled position;

FIG. 17D is a cross-sectional side view of the hand taken along line D-Dof FIG. 17A but in a flexed position;

FIG. 18 is an exploded view of the lower part of the palm and switch ofone form of the invention;

FIG. 19 is a perspective view of part of one form of automated hand ofthe invention;

FIG. 20A is a plan view of one form of hand of the invention with thepalm in a neutral position;

FIG. 20B is a cross-sectional side view of the hand taken along line E-Eof FIG. 20A;

FIG. 20C is an enlarged view of area A of FIG. 20B;

FIG. 21 is a perspective view of one form of positioning member attachedto one form of connector according to the invention;

FIG. 22A is a side view of one form of hand with wrist joint in aneutral position;

FIG. 22B is a cross-sectional end view of the wrist joint taken alongline F-F of FIG. 22A;

FIG. 23 is a perspective view of one form of automated hand comprising awrist joint according to one form of the invention;

FIG. 24 is a perspective view of another form of positioning member ofthe invention; and

FIG. 25 is a plan view of the automated hand of FIG. 24 and comprisinguser interface for training purposes.

FIG. 26 is a side perspective view of an automated hand according to asecond exemplary embodiment showing thumb rotation directions;

FIG. 27 is a side view of the automated hand of FIG. 26 with the thumbremoved;

FIG. 28 is a perspective view of the thumb of the hand shown in FIG. 26;

FIG. 29 is a bottom view of the hand shown in FIG. 26 with a thumbrotation lock engaged;

FIG. 30 is a bottom view of the hand shown in FIG. 26 with the thumbrotation lock disengaged;

FIG. 31 is a top view of an automated hand shown in FIG. 26 with cutalways showing the actuators housed in the fingers and thumb;

FIG. 32 is a bottom view of an alternative embodiment of the thumbrotation lock in an engaged position;

FIG. 33 is a perspective view and partial explosion of a further knuckleclutch embodiment for an automated hand;

FIG. 34 is an exploded view of the knuckle clutch shown in FIG. 33;

FIG. 35 is a side elevation of the clutch shown in FIG. 33;

FIG. 36 is a sectional view along line I-I FIG. 35;

FIG. 37 is an end view of the clutch shown in FIG. 33;

FIG. 38 is a magnified view of area J in FIG. 37 showing the clutchplate;

FIG. 39 is a side view of the clutch plate of the clutch of FIG. 33;

FIG. 40 is a plan view of the clutch plate of the clutch of FIG. 33;

FIG. 41 is a perspective view of the clutch plate of the clutch of FIG.33;

FIG. 42 is a side elevation of a clutch according to a furtherembodiment having a motor drive in the finger;

FIG. 43 is a bottom view of a wrist mechanism according to a furtherembodiment in a neutral position;

FIG. 44 is a sectional view along line H-H of FIG. 43;

FIG. 45 is a bottom view of the hand shown in FIG. 43 in the flexionposition;

FIG. 46 is a sectional view along line H-H of FIG. 45;

FIG. 47 is a bottom view of the hand shown in FIG. 43 in the extensionposition;

FIG. 48 is a sectional view along line H-H of FIG. 47;

FIG. 49 is a perspective view of the back of the automated hand of FIG.43 without the wrist portion;

FIG. 50 is an exploded perspective view of FIG. 49;

FIG. 51 is an exploded perspective of the wrist for the hand shown inFIG. 43;

FIG. 52 is an exploded view of the complete rear assembly of the handshown in FIG. 43;

FIG. 53 is a perspective of the wrist shown in FIG. 51;

FIG. 54 is a plan view of an automated hand indicating an alphanumericdisplay;

FIG. 55 is a perspective of yet another wrist embodiment;

FIG. 56 is an exploded perspective view of the wrist embodiment shown inFIG. 55;

FIG. 57 is a back elevation of a Metacarpal brace according to a furtherembodiment;

FIG. 58 is a side elevation of the Metacarpal brace shown in FIG. 57;

FIG. 59 is a plan view of the Metacarpal brace shown in FIG. 57;

FIG. 60 is a front perspective view of the Metacarpal brace shown inFIG. 57;

FIG. 61 is a rear perspective view of the Metacarpal brace shown in FIG.57;

FIG. 62 is a rear perspective view of a top palm;

FIG. 63 is a rear perspective view of a set of digits and actuators;

FIG. 64 is a rear perspective view of a bottom palm;

FIG. 65 is an exploded perspective view of hand and top palm cover; and

FIG. 66 is an exploded perspective view of hand and bottom palm cover.

DETAILED DESCRIPTION

The invention relates to an automated hand, such as a prosthetic hand ortraining hand for a prosthetic. Whilst the description is given by wayof example with respect to electric motors it will be appreciated that arange of suitable actuators may be employed.

First Exemplary Embodiment

The automated hand 100 of the first exemplary embodiment is shown inFIGS. 1 to 25 and comprises a palm 200 and two or more digits 300extending from the palm 200. Each digit may be attached to the palm by aknuckle joint. The digits are configured to move between an open,substantially flexed (extended) position, and a substantially closed,gripping position. A digit 300 may be in the form of a finger 310 orthumb 320. In one example, the hand 100 may comprise two digits 300, onebeing a finger 310 and the other being a substantially opposing thumb320. In another form, the hand 100 may comprise four or more fingers 310and a substantially opposing thumb 320. In yet another form, the hand100 may comprise only two or more fingers 310. It is envisaged that inyet another form, the hand 100 may comprise one or more fingers 310 andtwo or more thumbs 320, although this is not a preferred embodimentbecause it is an unnatural looking hand.

The hand 100 of the invention also comprises one or more drive motors230. Each motor 230 may be configured to drive movement of just onedigit 300, or of more than one digit. For example, where the hand 100comprises four fingers and a thumb, a single motor 230 may be used todrive movement of the thumb from one position to another. Two motors 230may be used to drive movement of the fingers, each of the finger motorsbeing configured to move two fingers. In another form, each digit 300may be driven by an independent motor 230 configured to drive movementof that digit 300 only. In one form, the thumb may comprise two motors,where the first motor is configured to cause the thumb to curl and flexand the second motor is configured to cause the thumb to move from oneside of the palm toward the other.

Each digit 300 comprises a body that may be formed as a single part oras two or more parts. A human finger, for example, comprises a proximalphalanx, a middle phalanx, and a distal phalanx. The automated hand 100of the invention may also comprise one or more digits 300 comprisingproximal 301, middle 302, and distal phalanges 303, as shown in thethumb of FIG. 1. Alternatively, one or more digits of the hand may beconfigured to comprise only proximal 301 and distal phalanges 303, asshown in the fingers of FIG. 1. In this configuration, the proximal 301or distal phalanx 303 may optionally be angled or curved. In some forms,the point of the angle or curve may resemble the appearance of a jointbetween a middle phalanx 302 and the proximal phalanx 301 or between themiddle phalanx and distal phalanx 303, as the case may be. In theembodiment shown in FIG. 1, the distal phalanx 303 of the finger 300 isangled to resemble a jointed middle phalanx and distal phalanx in asubstantially relaxed, slightly curled position. In yet another form,the digit may comprise a proximal phalanx only. Again, the digit maycomprise one or more curves or angles so that the digit substantiallyresembles a bent/curled human finger.

In one form, the body of the digit 300 may be a substantially hollowshell, which may comprise working components within the hollow interior.The working components are configured to transfer rotational movement ofthe motor to the digit. In another form, the body of the finger may besubstantially solid.

The automated hand 100 of the invention also comprises a power supplyconfigured to operate the one of more drive motors 10 and otherelectronic components of the hand. The power supply may be a battery orother power storage device, such as a slow release capacitor.Optionally, the power supply is rechargeable.

Preferably, the hand 100 comprises an indicator that provides anindication of when the power supply is running low. For example, theindicator may be a visual indicator in the form of a flashing light or alight of a particular colour. Additionally, or alternatively, theindicator may be a sound indicator that beeps or makes a particularsound to indicate that the power supply is running low.

The hand 100 of the invention may also comprise a control systemconfigured to control operation of the motors of the hand. The controlsystem may also be configured to control operation of other electroniccomponents of the hand. The control system may be programmable to suitthe needs and skills of the user. The control system may optionally bereprogrammable also to suit the changing needs and skills of the userover time.

Metacarpal Brace

In one form, as shown in FIGS. 1 to 6, the palm 200 of the hand 100comprises a body in the form of an outer shell. The outer shell definesan interior of the palm in which working components and electronics maybe held. The outer shell may be formed as one piece. In another form,the outer shell of the palm comprises a first part 210 and a second part220 configured to be attached together. The first part of the outershell of the palm is configured to form the upper part 210 of the hand,i.e. the back of the hand. The second part of the outer shell isconfigured to form the lower part 220 of the hand, i.e. the grippingpart of the palm. In the interests of clarity, the first and secondparts 210, 220 will now be referred to as upper and lower parts 210, 220respectively. However, this terminology should not be interpreted sothat the first part is always in an upper position and the second partis always in a lower position. As will be appreciated, the hand mayrotate so that the upper part (the back of the hand) faces toward theground and is therefore lower than the lower part of the palm.

The palm 200 of the hand 100 may also comprise a resiliently flexibleand compressible metacarpal brace 250. The metacarpal brace 250 may beconfigured to support the knuckle joints and therefore also the digitsof the hand.

In one form, one or more knuckle joints are directly or indirectlyattached to a connector, which is configured to attach to the metacarpalbrace. The connector 260 may comprise a knuckle joint 261 and aconnecting arm 20. The knuckle joint 261 may be located at a first endof the connecting arm 20. The connecting arm 20 may be configured toattach to or at least be supported by the metacarpal brace 250. Theconnecting arm 20 is thus mounted to the metacarpal brace 250 in a “freefloating” manner such that each connecting arm 20 may rotate about themetacarpal brace 250 when a lateral force is applied to a digit. Theresilience of the metacarpal brace 250 allows the digits to splay(rotate apart in the plane of the palm) and provide impact absorptionfor forces applied to a digit in a direction normal to the palm. Thisavoids the need for any internal frame with the digits being attached tothe palm only by the metacarpal brace secured to the top and bottom palmhalves.

The metacarpal brace 250 is configured to substantially extend acrossthe knuckle region of the hand. For example, the metacarpal brace 250may extend between two or more connectors and may be configured to allowthe connectors (and therefore the knuckle joints 261 and distal portionof the palm 200) to splay apart slightly, to squish together slightly,and to move slightly up and down relative to each other to simulate (atleast in part) the natural movement of the knuckles of a human hand. Theconnectors 260 are configured to connect the finger(s) 300 to the palm200. Therefore, by allowing the connectors 260 to splay, due to theresilience of the metacarpal brace, the fingers 300 are also able tomove laterally and splay to some extent, such as when an article such asa brush handle is placed between fingers. The metacarpal bracepreferably has such resilience that at least two digits may be splayedby at least 5 degrees (more preferably at least 10 degrees and even morepreferably at least 20 degrees) due to relative movement between theconnector and palm allowed by elastic deformation of the metacarpalbrace. The word “splay” in this context refers to digits that aregenerally parallel in their neutral position and the extent to whichthey are “splayed” represents the angle between the centrelines of theadjacent digits. Where the digits are not parallel “splay” refers to theadditional angular rotation between adjacent digits. The resilience ofthe metacarpal brace also provides impact absorption from lateral forces(i.e. forces from either side of the hand such as an impact to thelittle finger forcing it towards the 3^(rd) finger) and normal forces(i.e. forces acting against a digit in a direction normal to the planeof the palm). This is due to a connector 260 being able to move withrespect to the palm due to elastic deformation of the metacarpal brace250. The metacarpal brace may provide elastic deformation such that alateral force of between 2.5 and 20 Newtons applied to the tip of adigit results in angular rotation with respect to the palm in the planeof the palm (digit splay) of at least 3 (preferably at least 5) degrees.

The metacarpal brace preferably provides impact absorption for forcesapplied to a digit in a direction normal to the palm such that eachconnector may rotate by at least 2 (preferably at least 5 degrees)relative to the palm in the plane of driven movement of a digit (digitrotation) due to elastic deformation of the metacarpal brace. Themetacarpal brace may provide elastic deformation such that a force ofbetween 2.5 and 20 Newtons applied to the tip of a digit in a directionnormal to the plane of the palm results in angular rotation of the digitrelative to the palm of at least 3 degrees.

Similarly, by allowing the connectors 260 (and therefore the knucklejoints 261) at either side of the hand 100 to move downwardly, forexample, the fingers 300 are able to more readily conform around andgrip a small or round object, such as a tennis ball. The compliantnature of the automated hand means that the hand is also able to providea more natural grip in a handshake.

Metacarpal Brace Material Properties

The material selected for use as the metacarpal brace should be capableof retaining a high degree of flexibility when exposed to the normalcold and hot ambient temperatures in end-use. The hand might be exposedto icy water (0° C.) or very hot water (60° C.).

Dynamic mechanical thermal analysis (DMTA) is a laboratory test whichaccurately describes the actual behaviour of a polymeric material duringits end-use, such as use as a ‘metacarpal brace’. This is an ASTMprotocol selected from either D 2236, D 4065, D 4440, or D 5279. Itincorporates ‘temperature’ as a parameter for material selection

The DTMA test measures the ability of a material to absorb and/or retainenergy during a mechanical operation such as bending.

It describes flexibility and resilience (rebound) in terms of the ratioof absorbed energy/retained energy. This unitless ratio is called“damping coefficient” or “tangent delta” for that material, and it canbe generated over a wide range of temperatures.

In analytical terminology the material used for a metacarpal brace wouldrequire a flexibility (damping factor/tangent delta) of less than 1.0,preferably between 0.05 and 0.8 when measured over a temperature rangeof minus 20° C. to plus 100° C.

To provide the flexible, semi-compressible and resilientcharacteristics, the metacarpal brace may be made from any suitablematerial or combination of materials, including but not limited to:elastomers, rubber, silicone, compressible polymers and thermoplasticsmaterials. Thermoset elastomers (either hydrocarbon, fluorocarbon orsilica-based), thermoplastic elastomers, thermoset rubbers, inherentlysoft thermoplastics or foamed compositions based on any of thesepolymers are suitable for this application.

Some typical polymeric materials which qualify against these criteriaare shown below in Table 1. These ‘families’ of polymers can bedescribed as:

Crosslinked thermoset elastomers (such as ethylene/acrylate or butylrubber), crosslinked thermoset polyurethanes (Sorbothane®), crosslinkedthermoset polysiloxanes, thermoplastic polyurethanes (Huntsman, Bayer),thermoplastic elastomers (DuPont Hytrel®, DSM Arnital® copolyester,Arkema Pebax® copolyamide). Alloys and blends of these polymers (withother polymers as well as inorganic fillers), and foamed versions ofthese families of elastomeric materials would also be candidatematerials. Composite materials such as carbon fibre reinforced polymersmay also be used.

TABLE 1 Criteria for Metacarpal Brace Polymer Flexibility THERMOSETTHERMOPLASTIC RESILIENCE DAMPING POLYMER POLYMER (2632) HARDNESS FACTORPOLY- POLY- (%) (2240) (2236, 4065) SILOXANE — 20-40 A 10-30 0.4ETHYLENE/ACRYLATE — 20 40 A 50-90 0.5 ISOBUTYLENE/ISOPRENE —  20-40- A50-90 0.8 [BUTYL] RUBBER URETHANE* — 30-60 A 30-90 >0.1 URETHANE ** —20-38 A 30-70  0.2-0.5 — URETHANE*** 40-60 A 58-71 0.5 — URETHANE ****40-60 A 70-95 0.35-0.6 — COPOLYESTER 30-50 D 63-72 0.08-0.1 —COPOLYAMIDE 30-50 D 40-90 <0.14 Notes *based on the methodologydisclosed in U.S. Pat. No. 4,605,681 ** Sorbothane ® ***based on dataprovided by Huntsman Advanced Materials **** based on Army Research LabTR 4296 dataData in Table 1 shows that a broad range of thermoset and thermoplasticpolymers meet the criteria for selection as a material from which tomanufacture the metacarpal brace.The damping factor is preferably in the range of 0.05-0.80 between minus20° C. and plus 100° C., and more preferably in the range 0.05 to 0.5.Resilience is preferably between 20 to 60%. Hardness is preferablybetween Shore A hardness 10 to 90 (more preferably 30 to 60) or Shore Dhardness 40 to 90. A metacarpal brace formed of a material having aShore A hardness of about 30 has been found to be particularly suitable.

It is to be appreciated that the required functionality of themetacarpal block may be achieved in ways other than using a solidmetacarpal block as per the examples above. For example, cuts could beprovided in a solid block or it may otherwise be formed so that asmaller section of material is exposed to the rotational forces appliedby the digits. Foamed materials may have a different structure, forexample the metacarpal brace may extend further along the actuatorswhere the foamed materials are easily deformed.

As shown in FIGS. 1 to 5, the metacarpal brace 250 comprises a body 251having a first end 252. The first end 252 may face substantially in thedirection of the wrist. The support 250 also comprises a second end 253.The second end 253 may be positioned substantially opposite the firstend and may face substantially in the direction of the finger(s) 300 ofthe hand 100. The metacarpal brace 250 also comprises an upper surface254, which may be configured to form part of an upper surface 211 of theupper part 210 of the palm of the hand. Preferably, the upper surface ofthe metacarpal brace 250 is configured to be substantially flush withthe upper surface of the upper part 210 of the palm 200. The brace 250also comprises a substantially opposing lower surface 255, which may beconfigured to form part of a contact surface 221 of the palm of thehand. The contact surface is the outer surface of the lower part of thehand which typically comes into contact with an item that is grippedwithin the palm of the hand. The lower surface of the metacarpal brace250 may be substantially flush with the contact surface of the lowerpart 220 of the palm 200.

The metacarpal brace 250 is positioned between the knuckle joints 261and the body of the palm 200. The upper 210 and lower 220 parts of thepalm 200 may be configured to connect together and to hold at least aportion of the metacarpal brace 250 between the upper and lower parts210, 220. For example, in one form, the first end 252 of the metacarpalbrace is configured to be held between the upper and lower parts 210,220 of the palm 200 and to be substantially flush with the upper andlower surfaces of the palm so that the metacarpal brace 250 acts as anextension to the upper and lower parts 210, 220.

In one form, the palm 200, including the metacarpal brace 250, maycomprise an attachment system to attach the metacarpal brace 250 to theupper 210 and lower 220 parts of the palm. In one embodiment, asillustrated, the upper part 210 of the palm comprises a first end 212and a second end 213. The lower part 220 of the palm also comprises afirst end 222 and a second end 223. The second end of both the upper andlower parts 210, 220 may comprise a lip 214 extending around all, orsubstantially all, of the second end, as shown in FIG. 3. The first end252 of the metacarpal brace 250 may comprise a flange 256 thatsubstantially extends around the first side 252. A channel 257 may belocated between the flange 256 and the rest of the body of themetacarpal brace 250, as shown best in FIGS. 3, 4 c and 4 d. The wallsof the channel 257 are formed by an inside edge of the flange 256 andthe rest of the body 251 of the metacarpal brace 250. The lip 214 ofeach of the upper and lower parts 210, 220 of the palm 200 may beconfigured to project into the channel 257 and to abut the inside edgeof the flange 256. By connecting the first and second parts 210, 220 ofthe palm together, the lip 214 projects into the channel 257 and theflange 256 prevents the lip 214 from pulling out of the channel 257,even if the metacarpal brace is flexed or pulled away from the first andsecond parts of the palm 200.

It is envisaged that in other forms, the channel 257 and flange 256 maynot extend around the whole, or substantially the whole, of themetacarpal brace 250 and may instead extend around a part or parts ofthe metacarpal brace 250. For example, the flange 256 may be formed of aseries of projections provided around the first end of the metacarpalbrace 250 so that a channel 257 is formed between each projection andthe rest of the support 250. In another form, the flange 256 may beprovided at opposing sides of the first end of the metacarpal brace 250.

It should be appreciated that this is just one form of attachment systemto attach the metacarpal brace to the upper and lower parts of the palm.Any other suitable attachment system may otherwise be used. For example,the metacarpal brace and the upper and lower parts of the palm maycomprise complementary male and female attachment members that mate witheach other to attach the metacarpal brace to the palm. A clip connectionsystem may be another form of attachment system that could be used. Inyet another form, at least a portion of the metacarpal brace may beadhered to or integrally moulded with one of or both of the upper andlower parts of the palm.

As mentioned above, the metacarpal brace 250 is configured to supportone or more connectors 260 to indirectly support the knuckles 261 anddigits 300 of the hand.

In one form, the body of each connector 260 may be configured to providea motor housing. For example, the connecting arm 20 may comprise a motorhousing. In another example, the connector may comprise a connectingarm, a motor housing, and a knuckle joint located between the connectingarm and motor housing. In this arrangement, the motor housing may belocated within the body of the digit and the connecting arm may belocated within the palm. The motor housing may house a drive motor andmay optionally house one or more encoders and/or sensors.

The metacarpal brace may be configured to hold the connecting arm ofeach connector. For example, one or more support apertures 258 mayextend through the metacarpal brace 250 from the first end 252 to thesecond end 253. In one form, as shown in FIG. 2a , four supportapertures 258 are provided. Each support aperture 258 is preferablyconfigured to receive a connecting arm 20 of a connector 260 within it.

In another form, the metacarpal brace 250 may be configured to supportthe one or more drive motors 10 of the hand 100 so that each supportaperture 258 is configured to receive a drive motor within it. Ineffect, each support aperture 258 may be configured to form a motor bay.

In a preferred form, each support aperture 258 is substantiallycylindrical and is dimensioned to snugly hold a substantiallycylindrical motor 10 or connecting arm 20. In one form, substantiallythe whole of the curved walls of a motor 10 or connecting arm 20 may beheld within a support aperture 258. Alternatively, only a portion of themotor 10 or connecting arm 20 may be held within a support aperture 258so that the metacarpal brace 250 suspends the motor/connecting arm inspace within the palm of the hand, as indicated in FIG. 3 and shown inFIGS. 5 and 6.

The hand 100 may be assembled so that the second end 253 of themetacarpal brace 250 abuts the knuckle joint 261 of each connector andso that the connecting arm 20 of each connector is held within arespective support aperture 258.

In one form, the hand may be configured so that a first end of eachconnecting arm 20 is suspended within the palm 200 of the hand. Forexample, a portion of a connecting arm 20 at or near a second end 23 ofthe connecting arm is held within a support aperture 258. The remainingportion of the connecting arm 20, near the first end 22 of theconnecting arm may extend from the support aperture 258 so as to besuspended within the interior of the body of the palm 200 of the hand,as shown in FIGS. 5 and 6.

In another form, the metacarpal brace is longer so that substantiallythe whole of the connecting arm(s) is/are held within the supportaperture(s).

In one form, the hand 100 comprises four fingers 300 and four drivemotors 10, each drive motor 10 being configured to drive movement of anindividual finger 300. The metacarpal brace 250 of the hand 100comprises four support apertures 258, each support aperture extendingbetween the first 252 and second ends 253 of the metacarpal brace 250.The connecting arms are configured to fit snugly within a respectivesupport aperture 258 of the metacarpal brace 250.

In one form each drive motor 10 is housed within a connecting arm 20 ofa respective connector 260. Preferably, the connecting arms 20 areconfigured to provide watertight housings for the drive motors 10.

Typically, a first end 22 of each motor and of each motor housingcomprises an electrical connector 21 that is connected to the respectivemotor 10 and is configured to directly or indirectly connect to thepower supply and/or a control system. The control system may beconfigured to determine when and how quickly a motor 10 should drivemovement of a finger 300 and in what direction the finger should move.The second end of each drive motor 10 is located at or near a second end23 of the respective motor housing (if the drive motor 10 is placedwithin a motor housing). A second end of each motor may comprise anoutput shaft that is directly or indirectly connected to an actuationsystem for a respective finger 300 and is configured so that an outputof the motor 10 directly or indirectly engages with the finger 300 todrive movement of the finger 300.

In one form, the metacarpal brace 250 and connecting arms 20 comprise ananti-rotation system in which the two parts 250, 20 engage with eachother to prevent the connecting arms 20 from rotating within the supportapertures 258 as the drive motors cause the digits to move. In one form,as shown in FIGS. 3 to 4 d, one or more support apertures 258 maycomprise at least one stop, which may comprise an opening 259, such as arecess or notch, configured to engage with at least one correspondingstop, such as a projection 24, formed on one or more respectiveconnecting arms 20. In this arrangement, each connecting arm 20 is heldwithin a support aperture 258 so that a projection 24 of the motorhousing is held within a respective opening 259 formed in the metacarpalbrace 250. Alternatively, the motor bays of the metacarpal brace may beprovided with one or more stops in the form of projections configured tomate with one or more stops in the form of openings/recesses provided onthe respective connecting arms. When the fingers are moving, any torquetransferred from the fingers 310 to the connecting arms 20 is preventedfrom causing the connecting arms 20 to rotate within the supportapertures 258. The anti-rotation system may also prevent the connectingarms 20 from rotating within the support apertures 258 when the hand 100receives an impact force. Alternatively, rotation may be prevented byproviding an aperture of non-circular cross section, such as a keyhole,with the actuator having a corresponding interengaging profile.

Optionally, one or more of the connecting arms 20 are configured tocomprise one or more end stops 25 for pressing against the shell of thepalm to prevent the respective fingers from bending back on the upperpart of the palm and/or to prevent the finger from being pulled down toofar. In other words, the end stops 25 are configured to provide maximumpoints of movement for the fingers in order to prevent extreme movementof the fingers 300. In one form, an end stop 25 may be provided on anupper portion of the motor housing (the upper portion being the partthat faces toward the upper part of the palm). Additionally oralternatively, an end stop 25 may be provided on a lower portion of themotor housing (the lower portion being the part that faces the lowerpart 220 of the palm). Optionally, one or more electronics housingslocated on or within the connecting arm may also form end stops 25.

Typically, the metacarpal brace 250 is semi-flexible andsemi-compressible to provide the palm 200 and knuckle joints 261 withsufficient structural integrity as well as the ability to flex somewhat.The amount of flexibility and compressibility provided at various areasof the metacarpal brace 250 effects the extent of movement of the hand100 and fingers 300.

In one form, the metacarpal brace 250 may be configured to providedifferent compressibility and/or flexibility characteristics atdifferent areas of the metacarpal brace 250. For example, the areas ofthe metacarpal brace 250 that align with gaps between the fingers 300may be more flexible than other areas of the support 250. The greaterflexibility may be achieved by making these areas of the metacarpalbrace 250 thinner and/or by making these areas of the metacarpal brace250 from a more flexible material than other areas of the support 250.

The metacarpal brace may also be substantially resilient, so that aftercompressing or flexing, the metacarpal brace substantially returns toits original state.

The flexible and semi-compressible nature of the metacarpal brace 250provides significant advantages to the automated hand 100. For example,when fingers 300 of the hand 100 form a gripping position, themetacarpal brace 250 can flex and curve to allow the fingers 300 tosubstantially splay around the gripped object and at least partiallymould the hand 100 around the object. In this way, the movement of themetacarpal brace 250 is much like the palm of a human hand, which willcurve slightly (particularly at the sides) to grip an object, such as atennis ball. By curving slightly around an object, the hand 100 isprovided with an increased number of contact points at which the hand100 contacts the object. The more contact points that the hand 100 has,the better the grip of the hand. Typically, for a conventional automatedhand to achieve a good grip, the motors of the hand drive the digits ofthe hand to clamp onto the surface of the object being gripped. Thestronger the clamping force, the less likely the object will slip out ofthe hand. But this requires the motors to work hard, which strains themotors. Even when a strong clamping force is used, it can be difficultfor conventional automated hands to grip some objects. For example, aslippery and curved object, such as a glass bottle, may still bedifficult for a conventional hand to grip reliably. However, because anautomated hand comprising a metacarpal brace of the present invention isable to substantially curve around an object to provide more contactpoints, the motors of the hand do not need to work as hard to achievethe required gripping force. As a result, the longevity of the motorsand batteries is enhanced and a better grip is obtained.

Another advantage offered by the substantially flexible and compressiblemetacarpal brace is that when the automated hand of the inventionreceives an impact force, particularly side impacts to the little ofindex fingers, the hand is able to absorb some of the force to minimisedamage to the working parts of the hand. In particular, the cushioningeffect created by the compressible metacarpal brace helps to diffuse theimpact force, which could otherwise damage sensitive components of thehand, such as the motor gearboxes. In this way, the metacarpal bracehelps to improve the longevity of the motors and other components of thehand.

A hand comprising the flexible and compressible metacarpal brace of theinvention may also be quieter where the drive motors are housed withinthe connecting arms because the metacarpal brace substantially absorbsthe vibrations of the drive motors.

Another advantage provided by the metacarpal brace is that a handcomprising the support may feel more natural in a hand shake. This isdue to the ability of the hand to compress slightly under pressure fromthe hand shake and to curve slightly to grip the other person's hand.

Furthermore, because the metacarpal brace extends across the knuckleregion of the hand, the brace supports the knuckles and the fingers,which provides better control and accuracy of movement of the fingers.

Whilst the metacarpal brace is shown as an integrally formed block it isto be appreciated that a separate mount could be provided for eachactuator—either individually mounted to the palm or secured togetherafter formation.

Thumb

In one form, as shown in FIGS. 7 and 8, the automated hand 100 of theinvention comprises a digit 300 in the form of a thumb 320, configuredto substantially oppose at least one finger 310 of the hand. Preferably,the automated hand 100 comprises four fingers 310 and a substantiallyopposing thumb 320 in an arrangement the same as or similar to that of ahuman hand.

The thumb 320 is mounted at or near a first side 201 of the palm 200 ofthe hand so that the thumb body 321, which may be configured to curl andflex, substantially opposes at least one other digit 300, such as aforefinger for example. The thumb 320 is configured to extend from thecontact surface of the palm to substantially resemble a human thumb andpalm arrangement.

In one form, the thumb body 321 comprises a proximal phalanx 301, amiddle phalanx 302, and a distal phalanx 303, as illustrated in FIG. 8.In other forms, the thumb body may comprise a proximal phalanx only or aproximal and distal phalanx, as described above in relation to thevarious embodiments that digits of the hand may take.

In one form, the thumb 320 is configured to be mounted on the upper part210 of the palm 200 of the hand 100. The thumb 320 may be mounteddirectly on an inner surface of the shell of the upper part 210 of thepalm or the thumb 320 may be mounted on an intermediate member, such asa thumb support 330, which is itself mounted on an inner surface of theupper part 210 of the palm. For example, the hand 100 may comprise athumb support 330 configured to position the thumb 320 in a desiredlocation and orientation with respect to the palm 200. In one form, thethumb support 330 is configured to attach to or rest within or on theupper part 210 of the palm shell.

The thumb 320 may be configured to be mounted on the thumb support 330.For example, in one form, the thumb 320 comprises a body 321 and a basemember 322 that extends from one side of the thumb body 321 to form asubstantially L-shaped thumb 320. The thumb 320 is positioned on thepalm 200 so that when the hand 100 is in an open position, the thumbbody 321 extends from the contact surface of the palm 200 at or near afirst side 201 of the palm and the base member 322 extends across thepalm 200 toward the second side 202 of the palm. The second side 202 ofthe palm is substantially opposite to the first side 201 of the palm. Inthis arrangement, a distal end 322 a of the base member 322substantially faces toward the second side 202 of the palm. The thumb320 may be configured to rotate toward and away from the distal end 322a of the base member 322, so as to rotate toward and away from thesecond side 202 of the palm, as described below.

In one form, the thumb support 330 comprises a first surface 321 havinga sloping first recess 332. In the form illustrated, the first recess332 slopes along the length of the thumb support 330. The angle of thefirst recess 332 is preferably inclined toward the thumb body 321. Thefirst recess 332 comprises a first end 332 a, which is the shallowestend of the recess 332, and a substantially opposing second end 332 b,being the deepest end of the recess 332. Optionally, the first recess332 comprises an opening. In one form, the opening may be provided atthe second end 332 a of the first recess 332.

The first recess 332 may be configured to receive at least a portion ofthe base member 322 of the thumb 320, so that the base member 322 issubstantially held in position within the first recess 332. The angle ofthe first recess 332 not only helps the thumb 320 to be held in positionon the thumb support 330, but also allows the body 321 of the thumb 320to be located and angled on the palm 200 in a substantially naturallooking position to provide a substantially natural looking hand 100.

The thumb support 330 may also comprise a second recess 333 located onthe first surface 321. In the form illustrated, the second recess 333 islocated near the first end 332 a of the first recess 332. The secondrecess 333 may be configured to receive a positioning element 323 thatprojects from the base member 322 to help ensure that the base member322 maintains its position on the thumb support 330 without slewing fromside to side. The second recess 333 and positioning element 323 may beof any suitable complementary shape, such as a rectangular shape, a starshape, a hexagonal shape, or square shape.

In one form, as shown in FIGS. 7 and 8, the positioning element 323forms a hinge about which the thumb 320 may rotate toward and away fromthe distal end 322 a of the base member 322. In this form, theprojecting hinge 323 may be substantially semi-cylindrical and thesecond recess 333 may also be substantially semi-cylindrical so that thehinge 323 can nest within and rotate within the second recess 333. Thehinge/positioning element 323 and second recess 333 may extendsubstantially perpendicularly to the length of the base member 322.

Optionally, the thumb support 330 comprises a compressible material,such as rubber, silicon, or an elastomer to provide impact resistance tothe thumb 320.

The thumb 320 is typically assembled so that the base member 322 islocated on the thumb support 330, which is itself located on an innersurface of the upper part 210 of the palm 200. Optionally, the thumbsupport 330 is located on and/or surrounded by a seal 340 that seals thejoin between the thumb support 330 and the upper part 210 of the palm200. The upper part 210 of the palm 200 may comprise a substantiallyhollow housing between the thumb support 330 and the upper part 210, sothat the thumb support 330 forms a lid for the housing. Electronics 240for the hand 100 may optionally be housed within this housing 230 of theupper part 220 of the palm. For example, the control system and otherelectronic components may be held within the housing. Typically, theelectronics housing 230 is provided at or near the base of the upperpart 210 of the palm, i.e. near the join between the palm 200 and thewrist 500. By sealing the housing 230 for the electronics, theelectronics 240 may be kept watertight.

When the contact surface of the palm of the hand is facing upwards, asillustrated in FIG. 8, the lower part 220 of the palm 200 sits above theupper part 210, the thumb support 330, and base member 322 of the thumb.The lower part 220 of the palm comprises an opening 216 through whichthe body 321 of the thumb 320 projects. In this way, the base member 322of the thumb 320 is substantially held within the interior of the shellof the palm 200 and the body 321 of the thumb projects from the contactsurface 221 of the palm 200.

The thumb 320 may be configured to be a substantially stationary digit300 projecting from the palm 200 of the hand 100 or the thumb 320 may beconfigured to make controlled movements.

In one form, the thumb 320 comprises a first motor that may beconfigured to cause the thumb body 321 to curl toward the contactsurface 221 of the palm and uncurl or flex away from the contactsurface. The phalanges of the thumb may curl about joints between thephalanges, such as a first joint 326 between the proximal and middlephalanges, and a second joint 327 between the middle and distalphalanges for example.

The thumb 320 may also comprise a second motor that is configured tocause the thumb body 321 to move toward and away from the distal end ofthe base member 322 (i.e. to move the thumb towards and away from thesecond side 202 of the palm, proximate to the little finger location ifthe hand comprises a little finger).

In effect, the thumb 320 may be configured to simultaneously hingetoward the second side 202 of the palm 200 and to curl toward thecontact surface 221 of the palm 200 to grip an object. Similarly, thethumb 320 may uncurl and hinge away from the second side of the palm torelease an object.

The motor(s) may be located in any suitable position on the hand 100,such as in the palm 200, in the base member 322 of the thumb, or withinthe body 321 of the thumb. For example, the first motor may be housedwithin the body 321 of the thumb. In one form, the second motor ishoused within the base member 322.

Preferably, the motor(s) is/are held within a motor housing. Forexample, the first motor may be held within a first motor housing andthe second motor may be held within a second motor housing. One or moreencoders and/or sensors may also be held within the first and/or secondmotor housings.

The automated hand 100 optionally comprises a compressible thumb cushion350 configured to be placed between the base member 322 and the shell ofthe palm 200 to help absorb impact forces and prevent damage to thethumb 320 and its components, particularly the motor(s).

In one form, the thumb cushion 350 is located between the base member322 and the lower part 220 of the palm. In this form, the thumb cushion350 may be attached to an inner surface of the lower part 220 of thepalm; an upper surface of the base member 322 (the upper surface beingthat surface that faces toward the lower part of the palm); or the thumbcushion 350 may simply be sandwiched between the base member 322 andlower part 220 of the palm.

In one form the thumb cushion 350 is configured to be mounted on thebase member 322, as shown in FIGS. 7 and 8, so as to be located betweenthe base member 322 and the lower part 220 of the palm. The base member322 may comprise a cushion mount 324 by which the thumb cushion 350 maybe mounted on the base member 322. For example, the cushion mount 324may be in the form of an opening, such as an aperture or recess, and thethumb cushion 350 may comprise a mounting surface having a projectionconfigured to be received within the opening. Preferably, the projectionis snugly received within the opening or the projection and opening maybe keyed or otherwise configured to hold the projection of the thumbcushion within the opening so that the thumb cushion is held in place onthe base member. In another form, as illustrated, the base member 322comprises a cushion mount in the form of a projection 324 and the thumbcushion 350 is configured to fit over the projection 324 to be held inplace on the base member 322.

In one form, the projecting cushion mount comprises a housing, or atleast part of a housing, for the second thumb motor. For example, afirst surface of the base member 322 may comprise a cushion mount in theform of a projection 324 within which the second motor is located, asshown in FIGS. 7 and 8. If the hand 100 is oriented so that its contactsurface 221 is facing upwards, the first surface of the base member 322is its upwardly facing surface, which also faces toward the innersurface of the lower part 220 of the palm.

The compressible thumb cushion 350 may be configured to be located atthe projecting free end of the projecting motor housing/cushion mount324 or the thumb cushion 250 may be configured to substantially surroundthe cushion mount 324.

In one form, as illustrated in FIGS. 7 and 8, the base member 322 isconfigured to provide a cradle 325 in which the projecting cushion mount324 is located. The thumb cushion 350 is configured to be positionedsubstantially within the cradle 325 and to substantially surround theprojecting cushion mount 324.

As the thumb body 321 rotates toward and away from the second side 202of the palm, the thumb may pivot slightly within the thumb support sothat the base member 322 is caused to move up and down slightly. Forexample, if the thumb body 321 moves toward the second side 202 of thepalm 200, the distal end 322 a of the base member 322 is pushed into thefirst recess 332 of the thumb support 330. Conversely, if the thumb body321 moves away from the second side 202 of the palm, the distal end 322a of the base member pushes against the inner surface of the lower part220 of the palm 200. Therefore, if the end of the thumb 320 receives animpact force that pushes the base of the thumb body 321 toward the upperpart 210 of the palm 200, the positioning element 323 of the base member322 will be pushed against the second recess 333 of the thumb support330 and the distal end 322 a of the base member 322 will be pushedtoward the lower part 220 of the palm in a see-saw arrangement. Toprevent an impact force causing damage as the substantially rigidstructure of the base member 322 impacts against the substantially rigidlower part 220 of the palm, the thumb cushion 350 is located betweenthese two parts 322, 220. In this arrangement, the base member 322presses against the compressible thumb cushion 350, which absorbs atleast some of the impact. Therefore, the compressible nature of thethumb cushion 350 helps to dampen the force being transferred betweenthe thumb 320 and the palm 200. Consequently, the thumb, thumb motor(s)and other components of the thumb are less likely to be damaged by animpact force to the end of the thumb.

In one form, the thumb cushion 350 may be configured to be mounted onthe base member and to abut an inner side 320 a of the thumb 320. Theinner side of the thumb is that side from which the base member 322extends. In this arrangement, the thumb cushion 350 is able tosubstantially dampen the lateral movement of the thumb 320 when thethumb receives an impact force from the first side 201 of the palm. Thethumb and its sensitive components are therefore less likely to bedamaged as a result of a lateral impact.

The thumb cushion 350 may be made from any suitable cushioning material,such as rubber, an elastomer, silicone, or the like. Preferably, thematerial of the thumb cushion is substantially resilient to allow thethumb cushion to substantially return to its original shape afterdeformation.

Independent Digit Speed, Position and/or Force

In one form, the control system of the hand 100 of the inventioncomprises one or more motor controllers configured to control themovement of digits 300 of the hand independently. In one form, the motorcontroller(s) may be configured to control the speed of one or moredrive motors, which drive movement of the digits, independently. Inparticular, the motor controller(s) may be configured to control themotor speed and pulse width modulation of one or more of the drivemotor(s). Each motor controller is directly or indirectly connected to apower supply and to one or more drive motors of the hand 100.

By controlling the movement of one or more digits independently, it ispossible to independently and deliberately control the speed at whichthe controlled digits move; the force at which controlled digits grip anitem; and the position of the controlled digits.

The hand 100 may comprise one or more drive motors, each drive motorbeing configured to cause movement of at least one of the digits. In oneform, the hand may comprise five digits and at least five motors. Forexample, a first motor may be connected to a first digit, such as theforefinger, to drive movement of the first digit, a second motor may beconnected to a second digit, such as the middle finger to drive movementof the second digit, and so on, as shown in FIGS. 3, 5, and 6. Asdescribed above, each motor may be held within a housing, which ispreferably watertight.

The motor controller(s) may be configured to cause one or more of thedigits 300 to move at any desired speed. For example, the motorcontroller(s) may be configured to cause two or more digits 300 to moveat the same speed or a different speed, or to cause each digit 300 tomove at the same speed or a different speed.

In one form, each motor controller comprises a PID controller.

One motor controller may be used to control the speed of a single digit300, such as a finger 310. For example, each digit 300 of the hand 100may be connected to a motor controller configured to control the speedof movement of that digit 300 only. In one form, the hand may comprisefive motor controllers, five motors, and five digits. For example, afirst motor controller may be connected to a first motor to control thespeed of movement of a first digit, such as the forefinger; a secondmotor controller may be connected to a second motor to control the speedof movement of a second digit, such as the middle finger, and so on sothat the speed of movement of each digit may be independently determinedby the respective controller.

Alternatively, a single motor controller may be used to control thespeed of two or more digits 300. For example, the hand 100 may comprisea thumb and four fingers 310 corresponding to a forefinger, middlefinger, ring finger, and little finger. At least one motor controllermay be used to control the speed of movement of the thumb and at leastone other controller may be used to control the speed of movement of theforefinger. Yet another motor controller may be used to control thespeed of the middle finger, ring finger, and little finger. In thisarrangement, the speed of both the thumb and forefinger is controlledindependently, whereas the middle finger, ring finger, and little fingermove at the same speed because these fingers are governed by a singlemotor controller.

In one form, the thumb may comprise two drive motors: a first drivemotor to cause the thumb to curl and flex toward and away from thecontact surface of the palm; and a second drive motor to cause the thumbto pivot from the first side of the palm to the second side and back.The speed of each drive motor may be controlled by an independent motorcontroller, so that the speed at which the thumb curls and flexes may bethe same as or different to the speed at which the thumb moves betweenthe first and second sides of the palm.

The control system may be configured to determine the speed of thedigits suitable for the user. For example, if the hand comprises fourfingers and will be used to grip small objects or rounded objects one ormore motor controllers may be configured to cause the ring finger tomove faster than the middle finger. The motor controller(s) may beconfigured to cause the middle finger to move at the same speed as theforefinger or faster. Additionally or alternatively, the motorcontroller(s) may be configured to cause the little finger (or fingerclosest to the outside edge of the hand if the hand does not comprisefour fingers) to move at the same speed as the ring finger or faster.

In another form, the hand 100 comprises five digits 300 corresponding toa forefinger, middle finger, ring finger, little finger, and a thumb.One or more motor controllers are configured to cause the ring fingerand little finger to move at a faster speed than the forefinger andmiddle finger.

The motor controllers may be positioned in any suitable location on thehand. Preferably, the control system and motor controllers are locatedon a printed circuit board within the electronics housing in the palm ofthe hand.

One or more of the motor controller(s) may be pre-programmed beforebeing built into the hand 100. Alternatively, the user or a therapistmay program one or more of the motor controller(s) according to theuser's needs and after manufacture of the hand. Optionally, the one ormore of the motor controllers are reprogrammable.

By providing a control system for independent digit speed and/or digitposition and/or digit force, precise gripping tasks can be performed.For example, the controller(s) may be programmed to define the beforeand after grip positions for a handshake grip, to provide a higherlittle finger and ring finger force compared to the other fingers of thehand, and to provide particular finger speeds in order to provide asubstantially realistic, natural handshake grip.

Another advantage provided by a hand with independent digit speed isthat the control system of the hand may be configured to provide aprecision utensil grip.

Yet another advantage is that the force applied to grip an object can bevaried between digits. For example, by causing the drive motor for thelittle finger to move that finger faster than an index finger, the gripforce for the little finger will be stronger than the grip force for theindex finger once the fingers are used to grip an object.

Yet another advantage is that the positions of the digits can beindependently controlled and deliberately determined. For example, thecontroller(s) may be configured to cause the digits to move to aparticular grip pattern, such as a handshake grip.

Clutch Device

In one form, as shown in FIGS. 9 to 14, the automated hand of theinvention may comprise one or more clutch devices 400. Each clutchdevice may be configured to engage with and to disengage from a drivemotor 10, so that the drive motor can be stopped from driving a digitwhere the digit receives an end impact force or is under a significantpulling force. For example, if a curled digit 300 lifts a heavy weight,the drive motor of that digit strains to keep the digits in a curledconfiguration. Too much strain on the motor can damage the motor andotherwise wear the motor over time. The clutch device 400 of theinvention is configured to help avoid this damage by disengaging thedigit 300 from the drive force of the drive motor 10 when the digit isoverly strained by an end impact or significant pulling force.

The drive motor is configured to operate in a first direction, whichcauses the digit to curl toward the contact surface of the palm 200 ofthe hand 100 in a gripping position, and to operate in an opposingsecond direction, which causes the digit to uncurl to form an openposition. An output shaft of the drive motor is configured to directlyor indirectly engage with at least one clutch device of the invention.

The hand may comprise one or more clutch devices 400 for use with one ormore digits of the hand. For example, only the forefinger and thumb maycomprise a clutch device 400. In another form, as illustrated, eachdigit 300 of the hand, whether a finger or thumb, may comprise at leastone clutch device 400. In one form, a digit may comprise two clutchdevices 400, one on each side of the body of the digit. For simplicity,the configuration of a single clutch device 400 will be described inrelation to a single digit, in particular, a finger. However, it shouldbe appreciated that the clutch device 400 of the invention may otherwisebe used for a thumb. Because the thumb may comprise two drive motors,the thumb may comprise one or more clutch devices to engage with each ofthe drive motors of the thumb. For example, in one embodiment, if thethumb comprises two drive motors, the thumb may comprise four clutchdevices (two clutch devices for each drive motor).

In one form, the clutch device may comprise a first portion configuredto directly or indirectly engage with a drive motor and a second portionconfigured to directly or indirectly engage with a finger. For example,a first end of the clutch device may engage with a drive motor of afinger, as described above, and a second end of the clutch may beconfigured to engage with the finger.

The finger 310 is connected to a knuckle joint 261, which is connectedto the palm 200 of the hand. The knuckle joint 261 is configured toallow the finger to hinge about the knuckle joint 261 so that the fingercan curl and flex.

The finger 310 may be formed as separate, jointed parts (such asseparate phalanges), or the finger may be formed as a single part (suchas a proximal phalanx), as described above.

The clutch device 400 may be configured to be located within a jointbetween two adjoining phalanges 301, 302, 303 or within the knucklejoint 261 between the palm 200 and the digit 300. In a preferred form,the clutch device 400 is located within the knuckle joint 261 betweenthe palm 200 and proximal phalanx 301 of the digit 300.

The knuckle joint 261 may be formed from one or more parts. In one form,the knuckle 261 is formed from two parts; a first part 261 a and asecond part 261 b that may be joined together, as shown in FIG. 9.

The knuckle joint 261 may comprise a body having at least a partiallycurved outer surface to resemble the curves of a human knuckle. In oneform, the knuckle joint 261 forms part of a digit support member 260.The digit support member 260 may also comprise a connecting arm 20. Inone form, the knuckle joint 261 is located at or near a first end of thedigit support member 260 and a connecting arm 20 is located at or near asecond end of the digit support member. The connecting arm 20 may beconfigured to extend from the knuckle joint 261, so that the knucklejoint 261 forms one end of the digit support member 260 and theconnecting arm 20 forms the other end.

The drive motor of one or more fingers may be held within the connectingarm 20. Optionally, one or more encoders and/or sensors may also be heldwithin the motor housing. The connecting arm 20 may be substantiallyelongate and may be configured to be located within the palm 200 of thehand 100. In one form, the connecting arm 20 and/or motor 10 may beconfigured to be held within a motor bay of a metacarpal brace 250, asdescribed above. In another form, the connecting arm 20 and/or motor 10may be held within a digit 300, such as within the proximal phalanx forexample.

The body of the knuckle joint 261 may be of any suitable shape. In oneform, the body 261 comprises a substantially circular disc havingopposing mounting surfaces 265 a, 265 b.

In one form, the clutch device comprises a driven element 410, aclamping member 420, and a compression member 430.

The driven element 410 may be directly or indirectly engaged with adrive motor 10 and is caused to rotate by the drive motor 10. Forexample, the driven element 410 may be a worm wheel that engages with aworm gear driven by an output shaft of the drive motor 10. In anotherform, the driven element 410 may be a bevelled gear wheel, or any othersuitable wheel or rotating element, so that as an output shaft of thedrive motor rotates, the driven element 410 is also caused to rotate.

The driven element 410 may be located within the body of the knucklejoint 261. The driven element 410 may comprise at least one contactsurface 411 configured to engage with the clamping member 420. In oneform, the driven element comprises substantially opposing contactsurfaces 411 a, 411 b.

The clamping member 420 may comprise a first surface 421, configured toengage with the contact surface 411 of the driven element 410. Forexample, the first surface 421 of the clamping member 420 may beconfigured to press against the contact surface 411 of the drivenelement.

The compression member 430 may be configured to cause the first surfaceof the clamping to engage with the contact surface 411 of the drivenelement 410, such as by pressing against the contact surface 411. Thecompression member 430 may therefore be configured to cause the clampingmember 420 to engage with the contact surface 411 of the driven element410 using a compression force. In one form, the compression member 430may also be configured to cause the first surface 421 of the clampingmember to disengage with the contact surface 411 of the driven element.

Where a digit 300 comprises a single clutch device 400, the clampingmember 420 and compression member 430 are located on one side of thedriven element 410. However, where the digit 300 comprises two clutchdevices 400, a clamping member 420 and compression member 430 will belocated on each side of the driven element 410.

In one form, the clamping member(s) 420 may be located adjacent to thecontact surface(s) 411 a, 411 b of the driven element 410.

The driven element 410 and clamping member 420 may be held in a positionadjacent each other by a common axle 450 configured to extend through anaxle receiving aperture 414 formed in the driven element 410 and an axlereceiving aperture 425 formed in clamping element 420.

In one form, the axle receiving aperture 414 of the driven element issubstantially centrally located on the contact surface 411 of the drivenelement. The axle receiving aperture 414 may extend through the body ofthe driven element from the first contact surface 411 a to the secondcontact surface 411 b.

The axle receiving aperture 425 of the clamping member 420 may besubstantially centrally located on the clamping member 420. In one form,the axle receiving aperture 425 may extend through the body of theclamping member from the first surface 421 to a second surface 422 ofthe clamping member.

In one form, the axle may be substantially cylindrical and may extendthrough substantially circular axle receiving apertures of the drivenelement and clamping member.

In another form, the axle comprises a substantially cylindrical centralregion 451 and non-cylindrical ends 452. The central region 451 of theaxle 450 may be configured to project through an axle receiving aperture414 of the driven element 410 comprising a substantially circularcross-section. In this form, the driven element 410 may rotate freelyabout the axle 450.

The non-cylindrical ends 452 of the axle 450 may be a square shape,hexagonal shape, or any other suitable shape that is configured to keyinto a correspondingly shaped axle receiving aperture 425 of theclamping member 420. In this form, as the clamping member 420 rotates,the axle 450 is caused to rotate also. The driven element 410 is able torotate freely around the axle 430 whereas the axle 430 and clampingmember 420 are locked in position relative to each other.

The axle helps to ensure that the driven element and clamping memberremain substantially aligned with each other.

The knuckle joint 261 may comprise a clutch receiving aperture 266 tohouse at least a portion of the clutch device and to help to align thedriven element and clamping member. The clutch receiving aperture 266may extend through the body of the knuckle joint from the first outersurface 265 a to the second outer surface 265 b. The clutch receivingaperture 266 is preferably substantially centrally located on the outermounting surfaces 265 a, 265 b of the knuckle joint 261. In one form,the clutch receiving aperture 266 has a circular cross section to form acylindrical aperture that extends through either one of the first 261 aand second 261 b parts of the knuckle joint 261 or through both thefirst 261 a and second 261 b parts. The driven element 410 may belocated within the clutch receiving aperture 266. In one form, at leasta portion of the clamping member 420 may also be received within theclutch receiving aperture 266.

In one form, the clutch device 400 may comprise an engagement system toengage the contact surface of the driven element 410 with the firstsurface of the clamping member 420 so that the clamping member 420 iscaused to rotate when the driven element 410 rotates. The engagementsystem may also be configured to disengage the clamping member 420 fromthe driven element 410 when the digit 300 is subjected to a significantforce.

In one form, the engagement system comprises one or more male engagementmembers configured to engage with the one or more female engagementmembers. The male engagement members may comprise projections configuredto engage with female engagement members comprising recesses. The maleprojections may be substantially convex or may be substantiallyspherical projections, such as projecting balls. The male projectionsmay be integral with, attached to, or otherwise connected to theclamping member or driven element from which the projections project, asthe case may be. In one embodiment, at least one female engagementmember may comprise a substantially concave recess, such as a dimple.The recessed area may comprise one or more openings. For example, therecess may comprise a centrally located aperture with curved and taperededges to form a semi-circular recess. In another form, a femaleengagement member may comprise a concave recess comprising a pluralityof apertures within the recessed surface. The recess(es) may also besubstantially shallow. In other words, the depth of the recesses may besubstantially shallow or may comprise tapered edges having substantiallyshallow angles of taper.

The contact surface of the driven element may comprise one or more maleengagement members or female engagement members configured to engagewith corresponding female engagement members or male engagement memberson the first surface of the clamping member. In one form, the contactsurface may comprise both male and female engagement members configuredto engage with corresponding female and male engagement members on thefirst surface of the clamping member.

Optionally, the engagement system comprises four male engagement membersconfigured to engage with four female engagement members. The male andfemale engagement members are configured to be equally spaced from andaround a central point of the contact surface 411 of the driven element410 or a central point of the first surface 421 of the clamping member420, as the case may be.

In one form, the contact surface 411 of the driven element 410 maycomprise one or more male engagement members and the clamping member maycomprise one or more female engagement members. Each male engagementmember may be configured to be at least partially received in arespective female engagement member to engage the driven element 410 andclamping member 420 together.

In one form, the contact surface 411 of the driven element 410 comprisesone or more apertures. Each aperture comprises a closed end and an openend. The open end is located at the contact surface 421.

A compression member may be held within each aperture. A male engagementmember may be located at the open end of the aperture to project, atleast in part, from the contact surface. In this arrangement, thecompression member is held within the aperture between the maleengagement member and the closed end of the aperture. The projectingmale engagement member presses against the first surface of the clampingmember and against one end of the compression member. The compressionmember is therefore held under compression within the aperture and isconfigured to push the male engagement member(s) against the firstsurface 421 of the clamping member 420.

Optionally, the compression member is a spring, but in other forms, thecompression member may be formed from any substantially compressible,resilient material that is able to compress and then spring back to itsoriginal form.

In one form, the male engagement member may comprise a ball, such as aball bearing, which is held under compression between the clampingmember 420 and driven element 410.

The compression force of the compression member 430 presses the maleengagement member, such as a ball bearing, against the first surface 421of the clamping member 420.

As described above, the female engagement members on the first surfaceof the clamping member 420 may comprise one or more recesses withinwhich respective male engagement members may nest when the drivenelement 410 and clamping member 420 are engaged. In this arrangement,the clamping member 420 is caused to rotate when the driven element 410rotates. Where the male engagement member(s) comprise(s) a ball bearing,the one or more recesses may be configured to allow a ball bearing torotate somewhat within a respective recess. In this configuration, theinvention provides a spring-loaded ball bearing clutch device 400 thatcauses the clamping member 420 to rotate as the driven element 410rotates.

In another form, as shown in FIGS. 9, 10A, and 10B, the contact surface411 of the driven element 410 comprises one or more female engagementmembers 413 and the clamping member 420 comprises one or more maleengagement members 423. Each male engagement member 423 may beconfigured to be at least partially received in a respective femaleengagement member 413 to engage the driven element 410 and clampingmember 420 with each other.

In one form, the first surface 421 of the clamping member 420 comprisesone or more apertures 424. Each aperture 424 comprises a closed end andan open end. The open end is located at the first surface 421. Theaperture 424 may be formed with a closed end. Alternatively, theaperture may extend between the first and second surfaces of theclamping member and a stop 440, such as a grub screw, may be placed inthe aperture at the second surface to close the end of the aperture 424.

A compression member may be held within each aperture 424. A maleengagement member 423 may be located at the open end of the aperture 424to project, at least in part, from the first surface 421. In thisarrangement, the compression member 430 is held within the aperture 424between the male engagement member 423 and the closed end of theaperture 424. The projecting male engagement member 423 presses againstthe contact surface 411 of the driven element 410 and against thecompression member 430. The compression member 430 is therefore heldunder compression within the aperture 424 and is configured to push themale engagement member(s) against the contact surface 411 of the drivenelement 410.

Optionally, the compression member 430 is a spring, but in other forms,the compression member may be formed from any substantiallycompressible, resilient material that is able to compress and thenspring back to its original form.

In one form, the male engagement member 423 may comprise a ball, such asa ball bearing which is held under compression between the clampingmember 420 and driven element 410.

The compression force of the compression member 430 presses the maleengagement member, such as a ball bearing 423, against the contactsurface 411 of the driven element 410.

As described above, the female engagement members 413 on the contactsurface 411 of the driven element 410 may comprise one or more recesses413 within which respective male engagement members 423 may nest whenthe driven element 410 and clamping member 420 are engaged. In thisarrangement, the clamping member 420 is caused to rotate when the drivenelement 410 rotates. Where the male engagement member(s) comprise(s) aball bearing, the one or more recesses 413 may be configured to allow aball bearing 423 to rotate somewhat within a respective recess 413. Inthis configuration, the invention provides a spring-loaded ball bearingclutch device 400 that causes the clamping member 420 to rotate as thedriven element 410 rotates.

The clamping member 420 also comprises a second surface 422, which maybe configured to directly or indirectly engage with the finger 310. Forexample, the second surface 422 of the clamping member 420 may beconfigured to engage with a corresponding receiving element 305 formedin the body of the digit 300. In another embodiment, the distal end ofthe axle 450 may be configured to engage with a corresponding receivingelement formed in the body of the finger. The second surface 422 of theclamping member 420 and/or the distal end of the axle 450 may form thesecond end of the clutch device 400. The receiving element 305 may be anopening such as an aperture, recess, or a non-recessed area defined byat least one wall that borders the non-recessed area or by a pluralityof projecting arms that define the border of the non-recessed area. Inone form, as illustrated, the clamping member 420 is configured toengage with the proximal phalanx 301 of a finger 310. In one form, theclamping member engages with the finger by being attached to or integralwith the finger.

In one form, as shown in FIG. 9, the clamping member 420 may comprise ashaft 426 that comprises the first surface 421 of the clamping member420. A flange 427 may be located at or near one end of the shaft 426.The flange 427 may comprise the second surface 422 of the clampingmember 420. The shaft 426 may be configured to be held within the clutchreceiving aperture 266 of the knuckle 261. In one form, the flange 427of the clamping member 420 is configured to abut an outer mountingsurface 265 of the knuckle body 261 so that the flange 427 is located onthe outer surface 265 of the knuckle joint 261. In this arrangement, theshaft 426 of the clamping member 400 extends through at least part ofthe knuckle 261, such as the first part 261 a, toward the driven element410. The flange 427 of the clamping member 420 may be configured toengage with the finger 310, such as with the body of the proximalphalanx 301, as described above. For example, the flange 427 may besquare shaped, hexagonal shaped, or irregularly shaped to key with acorresponding receiving element 305, such as a recess, aperture, orsurround of the proximal phalanx.

In this configuration, when the clamping member is engaged with thedriven element and the driven element is caused to rotate by the drivemotor, the finger will be caused to rotate substantially simultaneously.The drive force between the drive motor and finger may be disconnectedby disengaging the clamping member and driven element, as describedlater in this specification.

In yet another form of clutch device, as shown in FIG. 13, the clampingmember 420 comprises multiple parts, comprising a first element 420 acomprising the first surface 421 of the clamping member 420 and a secondelement 420 b comprising the second surface 422 of the clamping member.The compression member 430 may comprise a spring washer or the like andis configured to be located between the first and second elements 420 a,420 b.

As above, the contact surface of the driven element 410 and the firstsurface 421 of the clamping member 420 may comprise one or moreengagement members to engage the driven element with the clampingmember. Again, the engagement members may be male engagement memberscomprising projections and female engagement members comprisingopenings, such as recesses, as described above. The contact surface ofthe driven element may comprise one or more male engagement members,female engagement members, or both, configured to engagement withcorresponding female engagement members, male engagement members, orboth located on the first surface of the clamping member.

In one form, one or more male engagement members 423 may project fromthe first surface 421 of the clamping member 420 to engage with one ormore recesses 413 formed on the contact surface of the driven element410. In another form, the driven element 410 comprises one or more maleengagement members that project from the contact surface of the drivenelement and that are configured to engage with one or more recesses onthe first surface of the clamping member 420.

The compression member 430 is configured to press the first surface 421of the clamping member 420 against the driven element 410. Thecorresponding engagement members may therefore nest together to engagethe driven element and clamping member with each other.

The second element 420 b of the clamping member comprises the second endof the clutch. The second element 420 b may be configured to engage withthe finger 310. In this arrangement, when the driven element andclamping member are engaged, the clamping member and finger will rotateas the driven element rotates.

In one form, the second element 420 b comprises a first end configuredto extend between the clutch receiving aperture 266 of the first part ofthe knuckle joint 260 a and to push against the compression member 430.A second end of the second element 420 b is configured to abut themounting surface 265 a of the first part of the knuckle joint 260 a andto engage with the finger 310, such as the proximal phalanx of thefinger. Preferably, the finger 310 comprises a receiving element 305that is configured to key with the second element of the clamping member420, such as with the second surface 422 of the clamping member providedon the second element. The receiving element 305 may be located on aninner surface of the body of the finger 310. The receiving element 305may comprise an aperture, recess, or area defined by at least one wallbordering the area or by a plurality of projecting arms.

Therefore, the clamping member 420 may be configured to engage with thedriven element 410 and the respective digit 300 to transfer rotationalmovement of the drive motor 10 to the digit 300. As the drive motor 10causes the driven element 410 to rotate, the engagement between theclamping member 420 and the driven element 410 causes the clampingmember 420 to rotate and the finger is caused to rotate (curl or flex)also.

The clutch device 400 may be disengaged under certain conditions bydisengaging the clamping member 420 from the driven element 410 todisconnect the drive motor 10 from the digit 300. This can be achievedby disengaging the first surface of the clamping member from the contactsurface of the driven element. In one form, the male and femaleengagement members of the driven element 410 and clamping member 420 maybe disengaged from each other to disengage these two parts 410, 420. Forexample, when the digit is in a curled or slightly curled configurationand is under tension from lifting a heavy weight or when the digitreceives an end impact force, as shown by arrow “A” in FIG. 11B, thetension or impact force may cause the male engagement member(s) to bepulled or pushed out of the substantially shallow recesses to disengagethe driven element 410 from the clamping member 420.

When disengaged, the driven element 410 may continue to rotate freely,but the disengaged clamping member 420 is no longer caused to rotate.Consequently, the finger 300 is also disengaged from the drive force ofthe motor 10. If the finger 300 was curled and lifting a heavy object atthe time of disengagement, the finger may release its grip and extend toa substantially flexed position because the drive motor is no longerable to pull the finger into the curled position. Similarly, if thefinger receives an end impact, the impact force will immediately allowthe clutch to disengage so that the finger can buckle under the impactto at least partially absorb the impact force without damaging the drivemotor.

The disengaged digit 300 will become slack, as shown in FIGS. 12A and12B, and will need to be manipulated into an engaged position tore-engage with the drive motor 10.

The compression member continues to press the male engagement member(s)against the non-recessed area of the contact surface 411 of the drivenelement or the first surface of the clamping member, as the case may be.

Therefore, a user can realign the male engagement member(s) withrespective female engagement member(s) by manually manipulating thedigit 300 about the knuckle joint 261.

The compression member 430 will automatically push the male engagementmember(s) into the aligned female engagement member(s) to re-engage theclutch device 400 and finger 300 with the drive motor 10.

In another form, as shown in FIGS. 14A to 14C, the contact surface 411of the driven element 410 is substantially circular. For example, thedriven element may be a disc shape or a cylindrical shape and thecontact surface 411 may be the outer circumferential surface of thedriven element 410. The clamping member 420 may comprise a body havingtwo end portions 426 and a substantially concave inner surface 421configured to wrap around at least a portion of the contact surface 411of the driven element 410. Preferably, the inner surface 421 isconfigured to substantially surround at least half of the contactsurface 411 of the driven element. The inner surface comprises the firstsurface 421 of the clamping member 420. In one form, the outer surfaceof the clamping member may form the second surface of the clampingmember. In one form, the clamping member body is substantially u-shapedwhere the two end portions 426 of the clamping member 420 extend fromthe arms of the u-shaped body. In another form, the clamping member bodyis substantially circular to form a ring having two end portions 426extending from the ring-shaped region of the body, as shown in FIG. 14A.Preferably, the two end portions 426 extend substantiallyperpendicularly from the clamping member body 420.

A compression member 430 is configured to press at least one of the endportions 426 against the other end portion 426 to tighten the clampingmember body around the driven element so that the first surface 421 ofthe clamping member clamps against the contact surface 411 of the drivenelement.

The clamping member 420 may comprise the second end of the clutch device400. The clamping member 420 may be configured to directly or indirectlyengage with the finger 310, such as a receiving element located on thebody of the finger. In one form, the clamping member may be configuredto engage with the proximal phalanx of the finger.

The receiving element 305 may be located on an inner surface of the bodyof the finger 310. The receiving element 305 may comprise an aperture,recess, or area defined by at least one wall bordering the area or by aplurality of projecting arms. In one form, the receiving element 305 isconfigured to also receive at least a portion of the compression membertherein so that the compression member can press against one or both ofthe end portions 426 of the clamping member 420. The receiving element305 may be configured to key with the second surface of the clampingmember 420.

In one form, the compression member 430 may comprise a screw that isscrewed into the body of the finger 310 and against a first end portion426 a to push the first end portion toward the second end portion 426 b.Optionally, the compression member 430 may comprise a pair of screwsthat are screwed into the body of the finger 310 from opposite sides sothat both the first and second end portions 426 of the clamping member420 are pushed toward each other within the receiving element 305.

By clamping the first surface of the clamping member against the contactsurface of the driven element, the clamping member is caused to rotateas the drive motor rotates the driven element. Because the clampingmember is engaged with the finger, the finger is also caused to rotate.

The clamping member may be disengaged from the driven element when asufficiently large impact force impacts the end of the finger, whencurled, or when the finger lifts a heavy object so that the finger issubjected to a sufficiently large pulling force. For example, asufficiently large pushing or pulling force will overcome the frictionforces between the clamping member and driven element so that theclamping member begins to slip around the driven element and thereforedisengages from the driven element. In this way, the finger isdisengaged from the drive motor to protect the drive motor from thelarge pushing/pulling force.

The above describes just some forms of clutch device that may be used toengage and disengage a digit from a drive motor. It should beappreciated that other forms of clutch device may alternatively be used.

The clutch device of the invention provides the automated hand with asafety feature that reduces the strain placed on the drive motors fromexcessively high forces.

Another advantage provided by the clutch device of the invention is thatthe digits of the hand are able to curl and flex according to thedirection of the motor with minimal friction between the fingers, theclutch device, and the drive motor. Unlike conventional automated hands,the digits of the hand do not require springs to bias the digits to anopen position. The springs of conventional automated hands are typicallystiff, which slows the finger speed and wears the drive motors.Conversely, the clutch device of the invention allows the digits of thehand to move relatively quickly. Another beneficial effect is that theclutch device may allow the hand to obtain an improved gain from thedrive motors. The clutch device also provides controlled opening of thehand through controlled movement of the fingers as the fingers flex.This is because the fingers are not subjected to a biasing force thatpulls the fingers to a flexed position.

Wrist

In one form, the invention comprises a wrist joint configured to providefor compact flexion of the hand at the wrist joint. In another form, theinvention comprises a wrist joint configured to provide for compactrotation of the hand at the wrist joint. Optionally, the wrist joint maybe configured to attach to a conventional quick disconnect system thatattaches the wrist of an electric terminal device (such as a poweredhook or automated hand) to an arm member. In yet another form, theinvention comprises a wrist joint configured to provide compact flexionof the hand and compact rotation of the hand.

In one form, as shown in FIGS. 15 to 24, the automated hand 100 of theinvention comprises a wrist joint 500 attached to the palm of the handand configured to attach to an arm member. The arm member may be asleeve in which a user's stump is located when the automated hand is inuse. Alternatively, the arm member may be a mechanical arm for example.

The wrist joint may comprise a positioning system configured so that theposition of the palm may be adjusted relative to the arm member. Forexample, the wrist joint may be configured to provide vertical rotationof the hand.

In one form, the positioning system may comprise an axle, which may beattached to the palm and directly or indirectly attached to an armmember. The palm 200 is configured to rotate about the axle 520 so thatthe palm can curl and flex relative to the arm member. The axle is heldwithin the shell of the palm to allow the arm member to reach as closeas possible to the palm, which allows the wrist joint to besubstantially compact.

In another form, as shown in FIG. 15, the positioning system maycomprise a positioning member 510, an axle 520, and a locking member530. Preferably, the positioning system is substantially located withinthe palm. For example, the axle, locking member, and at least a portionof the positioning member may be located within the palm.

The axle 520 is connected to the palm 200. The palm 200 is configured torotate about the axle 520 so that the palm can curl and flex relative tothe arm member. For example, where the arm member extends horizontallyto the ground and the contact surface 221 of the palm 200 faces theground, the palm 200 is able to hinge upwardly (flex) and downwardly(curl) relative to the arm member.

In one form, the axle is configured to be held within the body of thepalm of the hand. The axle 520 may substantially extend across the palmfrom the first side 201 of the palm to the second side 202. Each end 520a, 520 b of the axle 520 may be rotatably attached to the palm 200. Inone form, the base portion of the palm 200 may comprise a pair ofsubstantially opposing openings 205 a, 205 b, which may be apertures,recesses, or the like, configured to receive the axle 520. The axlereceiving openings may be provided in the interior of the palm or withinthe palm shell. In one embodiment, each axle receiving opening 205 a,205 b is formed in the lower part 220 of the palm shell.

In one form, each end 520 a, 520 b of the axle may be supported by asubstantially compressible axle mount 525. The substantiallycompressible axle mounts 525 provide the wrist joint with lateral impactcushioning, so that the hand may better withstand lateral impact forces.

In one form, each axle receiving opening may be formed in asubstantially compressible material or may be lined by a substantiallycompressible material to form an axle mount.

In another form, as shown in FIG. 15, substantially compressible axlemounts 525 are attached to each end of the axle 510 and may be supportedwithin axle receiving openings 205 a, 205 b formed in the palm of thehand.

The positioning member 510 may be mounted on the axle 520 so that atleast a portion of the positioning member is located within the palm.

The positioning member 510 may be configured to engage with the lockingmember 530 to lock the palm 200 in a desired position relative to thearm member.

As shown in FIGS. 15 and 16, the positioning member 510 may comprise abody having a first end 510 a that faces toward the palm and a secondend 510 b configured to face toward the arm member.

In one form, the positioning member 510 comprises an axle receivingaperture 514 for receiving the axle 520 therein. The axle receivingaperture may be formed at any suitable location on the body of thepositioning member. In one embodiment, as shown best in FIG. 16, theaxle receiving aperture 514 comprises a substantially hollow shaftlocated at or near the first end 510 a of the positioning member. Theaxle 520 passes through the shaft 514 so that each end 520 a, 520 b ofthe axle extends beyond the shaft 514 and is supported within the palmby axle mounts 525, as described above.

The positioning member 510 may comprise one or more engagement elementsconfigured to engage with the locking member 530.

In one form, the engagement element(s) may comprise at least one lockingpin or opening configured to engage with one or more correspondingopenings or locking pins of the locking member.

In one form, the positioning member 510 comprises a locking arm 515 onwhich one or more engagement elements 516 are located. The locking arm515 may project from the first end 510 a of the positioning member. Inone form, the locking arm 515 is attached to or integral with the axlereceiving shaft 514 and projects from the shaft 514. The locking arm 515may project in a direction substantially perpendicular to thelongitudinal direction of the axle 520. In this arrangement, the lockingarm projects into the body of the palm of the hand.

In one form, the locking arm 515 comprises engagement elements in theform of one or more openings 516, which may be apertures, recesses,notches, or the like. In one form, the locking arm 515 comprises a firstside 515 a comprising a series of openings 516 formed in a curve so thateach opening is equally spaced from the axle 520. In one form, thelocking arm 515 comprises a convex edge 517 comprising a plurality ofnotches 516. The notches 516 are located substantially equidistant fromthe axle 520 to form a substantially curved line of openings/notches.

The openings 516 of the locking arm 515 are configured to be accessibleto the locking member 530 so that the locking member may engage with theopenings 516.

The positioning member and locking member are configured to engage witheach other to lock the palm in a particular position relative to the armmember. For example, the positioning system may lock the hand in: aneutral position in which the palm and arm member may be substantiallyaligned, as shown in FIGS. 17A and 17B; a curled position, in which thepalm angles downwardly in relation to the arm member, as shown in FIG.17C; and a flexed position, in which the palm flexes upwardly inrelation to the arm member, as shown in FIG. 17D. These positions aredescribed as if the user is holding the arm member substantiallyhorizontally in front of his or her body with the palm of the handfacing down. However, the terminology is used for ease of understandingonly and is not intended to limit the scope of the invention.

In one form, as shown in FIGS. 18 and 19, the locking member 530 isattached to and located within the palm 200 of the hand. The lockingmember comprises a locking pin 531 configured to engage with any one ofthe openings 516 of the locking arm 515. The locking pin 531 may projecttoward the openings 516 of the locking arm. The locking pin may beconfigured to move toward the locking arm 515 so that the locking pin isreceived in one of the openings 516 to lock the locking member 530 andpositioning member 520 together. In this arrangement, the locking pin531 locks the palm 200 in a fixed position. The palm may be locked inany one of a number of desired positions by engaging the locking member530 with any one of the engagement elements 516 of the positioningmember 510. The locking pin 531 may also be configured to move away fromthe locking arm 515 so that the locking pin is retracted from therespective opening 516 to disengage the locking member 530 andpositioning member 520 and allow the palm to curl and flex freely.

The positioning system may comprise a switch configured to switch thepositioning system between a first mode and a second mode. In the firstmode, the positioning system is configured to lock the palm in any oneof a variety of positions in relation to the wrist joint, as describedabove. In the second mode, the positioning system is configured to allowthe palm to hinge freely from the wrist joint between two points ofmaximum movement; one point being a position of maximum flex and theother point being a position of maximum curl.

In one form, the locking member 530 comprises the switch.

The switch is configured to move the locking pin 531 toward thepositioning member (to engage with the positioning member) and away fromthe positioning member (to disengage from the positioning member).

In one form, as shown in FIGS. 18 and 19, the switch comprises a slidingarm 532 that extends across the interior of the palm shell from thefirst side 201 of the palm to the second side 202.

The shell of the palm 200 may comprise substantially opposing aperturesin which the sliding arm may be located. In one embodiment, the lowerpart of the palm comprises a pair of substantially opposing apertures206 located on each side 201, 202 of the palm. The apertures 206 may beconfigured to form channels in which the ends of the sliding arm 532 arelocated. The sliding arm may be configured to slide back and forthwithin the channels.

A stopper 533 may be provided at each end of the sliding arm 532. Theapertures 206 may be configured to allow the sliding arm 532 to slidefreely within the apertures 206 but to prevent the stoppers 533 frompulling out of the apertures 206 and into the interior of the palm 200.For example, the diameter of the apertures 206 facing the interior ofthe palm 200 may be larger than the diameter of the sliding arm 532 butsmaller than the diameter of the stoppers 533, as shown in FIG. 19.

The locking pin 531 is attached to the sliding arm 532. For example, thelocking pin 531 may be attached to or integral with the sliding arm 532.The locking pin 531 may extend substantially in the longitudinaldirection of the sliding arm 532 and may be spaced from the sliding arm532 by a spacer 534. Preferably, the locking pin 531 is configured tolie substantially parallel to the sliding arm 532.

To lock the hand 100 in a desired position relative to the arm member,the palm 200 is rotated about the axle 520 until it reaches the desiredposition. The stoppers 533 may serve as buttons of the switch so thatthe first button 533 a may be pushed in a first direction to cause thesliding arm 532 to slide toward the other side of the palm 200. Thelocking pin 531 is simultaneously caused to move toward the positioningmember 510 to engage with an opening 516 of the locking arm 515. Thepalm 200 of the hand is now locked in position relative to thepositioning member 510 and arm member. The palm 200 is unable to rotateabout the axle 520 in this locked position.

To unlock the hand 100 from a fixed position, the second button 533 b ispushed in a second direction, opposite the first direction, to cause thesliding arm 532 to move toward the other side of the palm 200. Thelocking pin 531 is therefore caused to move away from and disengage fromthe respective opening 516 in the locking arm 515. In theunlocked/disengaged position, the palm 200 is able to hinge freely aboutthe axle 520 between a position of maximum flex and a position ofmaximum curl. The maximum limits of movement may be provided by stopswithin the palm 200 that abut the positioning member 510 or axle toprevent the palm 200 from curling or flexing further in relation to thepositioning member 510.

In one form, the wrist joint comprises a tension member 540 to hold thepalm 200 under tension. In this configuration, the palm 200 may hingefreely about the axle 520 without being substantially floppy. Thetension member may extend from the positioning member 510 and pressagainst or engage with the palm 200. In one form, as shown in FIGS. 20Ato 20C, the tension member 540 comprises a leaf spring that extends fromthe locking arm 515 of the positioning member 510 and presses against aninner surface of the palm.

In one form, the positioning system of the wrist joint may comprise aconnector 520 configured to connect the hand to an arm member. Theconnector 520 may be configured to attach the palm 200 to an arm memberto allow the palm to rotate left and right relative to the arm member.

For example, in one form, the positioning system may comprise apositioning member 510, an axle 520, a locking member 530, as describedabove, and a connector 550.

The connector 550 comprises a body having a first end 550 a and a secondend 550 b. The first end of the connector faces toward the palm of thehand and the second end is configured to face toward the arm member. Inone form, the connector comprises a receiving aperture 551 that extendsbetween its first and second ends 550 a, 550 b. Preferably, theconnector is substantially ring shaped or tubular such that theconnector comprises an opening into a substantially hollow body of theconnector.

The positioning member 510 is configured to engage with the connector550 in a rotating arrangement, such that the positioning member mayrotate relative to the connector, which may be attached to the armmember in a fixed position.

In one embodiment, the second end 510 b of the positioning member 510has a substantially circular periphery configured to fit within asubstantially circular receiving aperture 551 at the first end 550 a ofthe connector 550. In one form, the positioning member 510 comprises asubstantially cylindrical or conical body. The interior of thepositioning member body 510 comprises an opening 590 so that thepositioning member is substantially hollow. In one form, the interior ofthe positioning member body forms a substantially hollow tube.

The positioning member may be attached to the connector in any suitablearrangement. For example, the second end of the positioning member maybe threaded to engage with a threaded first end of the connector. Inanother form, fasteners may be used to attach the positioning member andconnector together. In a preferred form, fasteners are used to attachthe positioning member and connector together without encroaching intothe substantially hollow interior of the positioning member.

In one form, as shown in FIGS. 15 and 16, the positioning member 510comprises a flange 518 that projects from the body of the positioningmember 510. The flange is preferably positioned at or near the first endof the positioning member. At the first end 550 a of the connector, thereceiving aperture 551 is configured to have a diameter smaller than thediameter of the flange 518. The positioning member 510 may be attachedto the connector 550 by locating the second end 510 b of the positioningmember within the receiving aperture 551 of the connector so that theflange abuts the first end 550 a of the connector, as shown in FIG. 21.Fasteners may then be used to hold the positioning member in loosely inplace within the connector so that the positioning member is able torotate within the connector but is unable to separate from theconnector.

In one form, as shown in FIGS. 15, 21, 22A and 22B, a pair of adjacentholes 552 are provided on substantially opposing sides near the firstend 550 a of the connector. A fastener comprising a pin 553 isconfigured to extend between each pair of holes 552. Each pin 553 may beconfigured to clamp against the sides of the positioning member body510. In one form, compression members 554, such as spring loadedprojections, grub screws, or any other suitable system, may beconfigured to extend through holes 555 in the side wall of the connector550 to press against the pins 553 and cause the pins 553 to looselyclamp against the positioning member 510. Optionally, the pins 553 maycomprise a receiving element against which the compression members maypress.

An advantage of using a spring loaded compression member is that thepins 553 press firmly against the body of the positioning member to holdthe positioning member in place. However, of sufficient rotational forceis applied to the palm, the positioning member may be caused to overcomethe compression forces and frictional forces applied by the pins 553 torotate relative to the connector. In this way, the fastenersautomatically release and re-engage when the sufficient rotational forceis removed.

An advantage of attaching the positioning member to the connector withfasteners that do not encroach on the interior surface of thepositioning member, the wrist joint maximises the space in which thestump of a user's hand may project into the wrist joint. This allows theoverall length and configuration of the arm member, wrist and hand toappear substantially anatomically correct.

However, this is just one arrangement in which the positioning member510 may be attached to the connector 550. As will be appreciated, thetwo parts 510, 550 may be attached together in any suitable arrangement.For example, in an alternative form, the first end of the connector mayinstead be configured to fit within the second end of the positioningmember.

The positioning member 510 may comprise at least one locking finger 570configured to project from an outer surface of the positioning memberbody and to engage with an inner surface of the connector. Preferably,the positioning member comprises two locking fingers 570. In one form,as shown in FIG. 23B, each locking finger may form a spring loadedprojection. For example, the locking finger may comprise a nib 571, suchas a ball or ball bearing, that is held within a chamber 572 that may beformed in the body of the positioning member 510 or that may fit withinan aperture 519 formed in the body of the positioning member. A biasingmember, such as a spring, may be located between the nib 571 and aclosed end of the chamber 572. The nib 571 projects from an open end ofthe chamber 572 and is clamped between the free end of the compressedspring and the inner surface of the receiving aperture 551. Theconnector 550 may comprise a plurality of indexing nodules 556, in theform of apertures or recesses, on its inner surface. The indexingnodules 556 may extend in a line around the inner surface of thereceiving aperture 551 of the connector near the first end 550 a of theconnector. The nib 572 is configured to engage with any of the indexingnodules 556. However, with sufficient force, the positioning member 510may be rotated within the connector 550 so that the compressed springcompresses further and the nib 572 is pushed out of its respectiveindexing nodule 556 and into the adjacent nodule. In this way, the palm200 may be rotated laterally to cause the positioning member 510 torotate within the connector 550. When the palm 200 reaches a desiredposition, the compressed spring pushes the nib 572 into the respectiveindexing nodule 556 to lock the palm in position. Preferably, thepositioning system is configured so that the palm may rotate up to 45degrees left and right.

Therefore, the positioning system may be configured to allow the palm tocurl and flex and/or to rotate laterally.

In another form, the wrist joint is configured to attach an electricterminal device (such as a powered hook or automated hand) to an armmember. In one form, the wrist joint may comprise a body comprising afirst end configured to face toward the electric terminal device and asecond end configured to face toward the arm member. The wrist joint mayalso comprise an aperture extending into a substantially hollow regionof the wrist joint body to allow a portion of a user's stump to extendthrough at least a portion of the wrist joint. Optionally, the apertureextends between the first and second ends of the wrist joint. Forexample, in one form, the body of the wrist joint may be substantiallytubular or ring shaped. The wrist joint may further comprise an axlethat is rotatably attached to the palm to allow the palm to hingerelative to the wrist joint.

In one form, as shown in FIG. 24, the wrist joint comprises apositioning member 510 comprising a substantially planar body. Thepositioning member may be configured to attach to a connector 520 toform the body of the wrist joint. The positioning member and/orconnector may be attached to an arm member to attach the wrist joint toa user's arm. In one form, the second end 510 b of the positioningmember may comprise a substantially smooth surface. The positioningmember may be attached to an arm member comprising or in the form of aquick disconnect wrist system, such as those known in the art. Thepositioning member and arm member may be attached together in anysuitable way, such as by using fasteners, such as screws, or adhesive,or any other suitable form of attachment. Preferably, the second end 510b of the positioning member is screwed or bolted onto an end of an armmember, such as a quick disconnect wrist system. In one form, theconnector may be located between the second end of the positioningsystem and the distal end of the arm member so that the connector isalso attached to the arm member when the positioning member and armmember are attached together. In this arrangement, the connector isclamped between the positioning member and arm member. The positioningmember is unable to rotate relative to the connector. Optionally, thearm member/quick disconnect wrist system comprises a rotating end toallow the palm to rotate left and right relative to the arm member.Therefore, the positioning system of the wrist joint may be configuredto attach the palm to a conventional arm member or to a proprietary armmember.

Optionally, the positioning member and connector are formed as a singlepart.

The wrist joint may comprise a cable port 580 in which electricalconnectors may be located to connect the palm to the arm member. Forexample, the positioning member and connector may each comprisesubstantially aligned apertures to form a cable port between the palmand arm member.

As shown in FIGS. 21 and 23, the second end of the connector 550 maycomprise a sleeve attachment system 600 to attach the automated hand toan arm member in the form of a sleeve that fits over a user's stump.

An advantage of the wrist joint of the invention is that because atleast a substantial portion of the positioning system is housed withinthe palm of the hand, the wrist joint takes up very little space betweenthe arm member and the palm of the hand. Consequently, when the hand isused as a prosthetic, the wrist joint and the connection between thepalm and arm member appear to be substantially anatomically correct.

The positioning member and connector may also be configured to besubstantially hollow to maximise the length of a user's stump that canfit within the automated hand. This too helps the hand to look moreanatomically correct, as can be seen in FIGS. 22B and 23.

In one form, the wrist joint may also comprise a watertight seal 560between the positioning member and connector to prevent fluid from thehand passing into the arm member/sleeve.

Training Hand

It is necessary for a user of a prosthetic hand to create the necessaryEMG (electromyography) signals to cause the hand to move to a desiredposition. Typically, it is necessary for a user of a prosthetic hand topractice using a practice hand for a significant period of time beforethe receiving the actual prosthetic hand to be used. In some forms, thepractice hand may be a computer simulated hand. However, the actualprosthetic hand that will be used by the user may have differentsensitivities to the practice hand. This means that the actual handmight not operate as expected, despite the user having practised with apractice hand for a long time. Therefore, the automated hand of theinvention may comprise a control system and may be configured to providetraining for the user as the hand is being used.

In one form, as shown in FIG. 25, the hand 100 may comprise a controlsystem connected to the drive motor(s) of the hand. The control systemmay be configured to receive one or more EMG signals from a user; one ormore electronic signals from a user interface; or both. The controlsystem may also be configured to cause the digits to assume apredetermined grip pattern depending on the signal(s) received.

The control system may be programmable to cause the hand to assume apredetermined grip pattern based on the signals received.

The hand may comprise a display in the form of one or more indicatorsthat a signal has been received by the control system. In one form oneor more indicators may be configured to indicate that an EMG signal hasbeen received from the user. Additionally, or alternatively, one or moreindicators may be configured to indicate the grip pattern of the hand100. In yet another form, one or more indicators may be configured toindicate that a signal has been received from a user interface of thehand, such as via a Wi-Fi or Bluetooth connection. One indicator mayalso indicate an alarm mode.

The one or more indicators may comprise one or more visual indicators150, audio indicators 160, or both.

In one form, the hand comprises at least one visual indicator and atleast one audio indicator that a signal has been received by the controlsystem.

The visual indicators 150 may be lights, such as LEDs, which may be ofvarying colours and/or may flash in various patterns depending on theposition of the hand 100. Alternatively, the display may be analphanumeric display 809 as shown in FIG. 54. An alphanumeric displayenables each selected grip pattern to be displayed, specific faultconditions and detailed ranges for EMG signal strength etc.

The audio indicators 160 may be sounds created by the control system andemitted through speakers provided on the hand 100.

In one form, the hand 100 may comprise one or more visual indicators 150and/or audio indicators located on any suitable part of the hand 100,such as the upper part 210 of the palm 200 or the wrist area 500. Forexample, one or more indicators 150, 160 may be located on the uppersurface 211 of the upper part 210 of the palm 200. Preferably, threelights 150 are provided on the upper surface 211 of the palm.

The hand may comprise a user interface 180 through which a user mayinput instructions to the control system to cause the hand to assume apredetermined grip pattern. The user interface 180 may comprise one ormore input members 170 through which a user may input data to cause thehand to assume a predetermined grip pattern. The one or more inputmembers 170 may comprise one or more buttons, dials, or any othersuitable system for inputting data. The user interface may be touchsensitive or mechanically operated or both.

In one form, the user interface 180 comprises one or more depressiblebuttons 170. In another form, the buttons may be touch sensitive. Thebuttons 170 may be located on any suitable part of the hand 100, such asthe upper part 210, the wrist area 500, or the base of the lower part220 of the hand. In one form, the buttons 170 are located on the uppersurface 211 of the upper part 210 of the hand. In a preferred form, twoor three buttons 170 are provided, as shown in FIG. 24. However, inother forms, four or more buttons may be used.

The user interface 180 may comprise a panel on the shell of the palm 200of the hand. One or more input members 170, may be provided on thepanel. Electronics connecting the input member(s) 170 to the controlsystem may be located within the shell. Preferably, the panel 180 issealed to avoid fluid reaching the electronics and control system.Alternatively, the electronics may be located within a sealed housingwithin the shell of the palm 200.

Optionally, the hand 100 comprises one or more input members 170 and oneor more visual 150 and/or audio 160 indicators. The one or more inputmembers, such as one or more buttons 170, may be located in the samearea of the hand 100 as the visual indicator(s) 150 and/or audioindicator(s) 160. For example, one or more input members 170 and one ormore indicators may be located on the user interface panel 180 on thehand, as described above. In one form, an LED light 150 may be locatednext to each input member or button 170. In one form, the hand maycomprise one or more input members 170 comprising one or more visualindicators 150. For example, an LED light may be located on each button.In another example, multiple LED lights may be provided on a dial.

In one form, the number of visual and/or audio indicators may equal thenumber of input members, such as buttons. In other forms, the number ofinput members may exceed or be less than the number of visual indicatorsand/or audio indicators.

The control system of the hand may be configured so that signalsreceived from one or more input members 170, EMG signals, or both may beused to cause the hand 100 to change from one grip pattern to another.For example, a user may depress one or more buttons 170 in a particularpattern to select a grip pattern, such as a grip pattern where the thumb320 is in an opposition position and the fingers 310 and thumb 320 ofthe hand are curled.

A particular indicator or combination of indicators may be used toindicate that the signal received by the control system is an EMG signalor an input signal from one of the input members. For example, a redlight may indicate that an EMG signal has been received and a greenlight may indicate that an input signal has been received from the userinterface. In one form the brightness of a single LED indicator may varyin proportion to the strength to the received of received EMG signals toprovide an indication of the strength of EMG signals received to theuser.

The control system of the hand may be configured to store a certainnumber of grip patterns, such as the twenty most common grip patterns,that may be obtained by inputting data to the control system through theinput member(s) 170 of the hand, EMG signals, or both. In one for anindicator is illuminated when the first grip pattern is selected so thata user may push an input button a number of times from this state toselect a desired grip pattern.

The input member(s) 170 may be particularly useful when a user is unableto create the necessary EMG signal needed to achieve a particular grippattern.

In one form, the control system may be programmed to recognise only someEMG signals. In this form, other grip patterns may be controlled by theinput member(s) 170 of the user interface 180.

Therefore, the hand 100 of the invention may be configured to be used asa training tool to help train the user to become accustomed to the hand,especially the various positions of the hand.

Fluid Compatible Hand

In one form, the hand of the invention may be configured to operate whenwet. For example, the hand may be configured to operate when submergedin water, without needing to use a glove or waterproof covering over thehand.

It is very difficult for an electrically powered automated hand withmany moving mechanical parts to be made fluid compatible. It is evenmore difficult where the part of the hand have been designed to be smallenough to make the hand appear to be substantially anatomically correct.To provide a water compatible hand, the construction of a typicalautomated hand has been re-engineered by the inventor from the groundup. As a result, the fluid compatible automated hand of the invention isconfigured to operate when dry and when wet. The hand is not waterproofbecause the interior of the hand may become wet when the hand issubmerged in fluid, such as water. Instead, the hand is configured to befluid compatible, meaning that the hand will operate even when submergedin fluid.

The hand is configured to be fluid or water compatible in several ways.For example, the drive motors of the hand may be individually housedwithin sealed housings. Electrical connections may be provided using anysuitable fluid compatible connection, such as by using remote connectionor by using ribbon cables for example. In one form, ribbon connectorsare used to traverse the wrist joint between the palm and arm member toconnect electronics in the palm and/or digits with electronics in thearm member, such as a sleeve. The ribbon connectors are configured to bewaterproof and may also be configured to withstand the moving nature ofthe hand as the palm curls, flexes, and/or rotates about the wristjoint.

The controllers and electronics may be placed within one or more sealedhousings, such as an electronics housing within the palm of the hand.

The palm and wrist joint may also comprise one or more watertight seals.For example, a seal may be located between the positioning member andconnector of the wrist joint to prevent fluid from the automated handentering the arm member/sleeve. In particular, the wrist joint maycomprise a positioning member attached to a connector, as describedabove, and an arm member comprising a sleeve may also be attached to theconnector. A rubberised seal is located between the attached positioningmember and connector. The connector, positioning member and sealtogether form a sealed end to the sleeve so that fluid is unable to passinto the sleeve and damage electronic components within the sleeve. Theuser's stump, which will be positioned within the sleeve during use,will also be kept dry.

Where the hand is attached to an arm member using a positioning systemof the invention and/or using a disconnect system, the hand is able torotate relative to the arm member. This rotational capability isparticularly beneficial when coupled with a fluid compatible hand.

The hand may be configured to be drainable. For example, the hand maycomprise one or more drainage ports, such as apertures in the palmand/or digits, through which fluid may drain after the hand has beensubmerged in fluid. Alternatively, the fluid may drain through one ormore openings that are provided between adjoining parts of the hand,such as the openings that form around the knuckle and digit joints, forexample.

The automated hand of the invention is therefore configured to befloodable and drainable so that a user could use the hand to do thedishes, for example.

To help provide additional grip, a grip assisting surface, such as atacky, textured, or high friction surface, may be provided on thecontact surface of the palm of the hand and contact surfaces of thedigits. The contact surface of the digits are areas of the digits thatare most likely to contact an object being gripped. For example, thefingertip area may be a contact surface. In one form, the grip assistingsurface may be a rubberised surface comprising rubber, silicon, or anelastomer for example.

Conventional automated hands require a glove to be used to help withgrip, water resistance, and protection against general wear and tear.Known automated hands are not able to operate when submerged in fluid.Where a glove is used, the drive motors of the hand strain to move thedigits against the constrictive nature of the glove. In other words, themotors need to work harder to move the digits than if no glove is used.These disadvantages may be avoided by the fluid compatible hand of theinvention, because it is unnecessary for a glove to be used with thehand. Greater gain can therefore be obtained from the drive motors andless power may be consumed to move the digits of the hand from oneposition to another. In addition, without the constriction of a glove,the digits of the hand may move faster. The automated hand of theinvention also has less risk of water damage or damage from otherfluids.

Because the hand of the invention may be worn without a glove, it ispossible for the hand to be used as a training hand, as described above,where one or more LED lights may be located on the hand and visible tothe user.

The fluid compatible hand of the invention is also configured to bereadily maintained without adversely affecting the fluid compatiblenature of the hand.

Second Exemplary Embodiment

FIGS. 26 to 66 show an automated hand according to a second embodimentemploying a different thumb rotation locking mechanism, wrist lockingmechanism, overload knuckle clutch, removable grip plates and relatedfeatures.

Those parts that are equivalent to corresponding parts in the firstembodiment have been given the same numbering and the above descriptionshould be referenced in relation to those parts. The metacarpal bracehas the same properties described in relation to the previous exemplaryembodiment. The actuator described below includes a connector housingthe actuator although a connector need not necessarily house an actuatorin alternate embodiments.

Thumb Rotation Locking

Referring now to FIGS. 26 to 30 an alternate thumb design is shown.Thumb 701 has an actuator 702 provided at its proximal end (includingthe actuator housing) which is also its point of attachment to palm 704.A resilient mount 703 is mounted to palm 704 and includes a cavitydimensioned to receive the actuator 702. By mounting the thumb 701 tothe palm via a resilient mount 703 the thumb can absorb impact forces byelastic deformation of resilient mount 703. The resilient mount 703preferably permits relative angular displacement of the actuator 702with respect to the palm 704 of at least 2 degrees, and preferably atleast 5 degrees. The resilient mount 703 may have material properties asset out for the metacarpal brace described above in relation to thefirst exemplary embodiment.

The relative movement of the thumb 701 with respect to the palm 704 mayalso be utilised in a thumb locking mechanism. Actuator 702 rotatesthumb 701 as indicated by arrow A about an axis generally in thedirection of extension of the hand. In this embodiment actuator 702allows thumb rotation for positioning purposes when a user appliesrotational force (i.e. it does not have a gear drive such as a wormdrive preventing reverse drive). This enables a user to rotate the thumbinto a desired position. This also allows the thumb to absorb forcescaused by an accidental impact to the thumb. A second actuator 705controls closure and extension of the thumb as indicated by arrow B.

Due to the ability of the thumb to be rotated by applied force it isdesirable to lock the thumb in a fixed rotational position duringmovements such as gripping an item (to prevent release due to rotationof the thumb). FIGS. 29 and 30 illustrate the operation of the thumbrotation lock. FIG. 30 shows the positions of the elements when no forceis applied in direction C. When the thumb is closed against an object oranother digit a force as indicated by arrow C causes actuator 702 toapply force to resilient mount 703 causing rotation of the thumb andactuator 702 as shown in FIG. 29 (the distal end of actuator 702 is seento have moved towards the wrist). This forces block 708 against palmblock 709. A first engagement surface 706 may be provided on block 708and a second engagement surface 707 may be provided on palm block 709.When the two engagement surfaces are brought into contact this mayprevent further rotation (i.e. rotation in direction A) so as to assistin retaining a grip without thumb rotation. This is particularlyimportant where the actuator may move when force is applied (unlike aworm drive which may prevent backward rotation). Allowing rotation ofthe thumb may assist in thumb positioning and allow force to bedissipated without damaging the thumb. The engagement surfaces 706 and707 may both have profiles that interengage, such as a corrugatedprofile such as a gear surface. Alternatively, one surface may have ahigh coefficient of friction, such as a brake pad material, and theother may or may not have a surface profile. A surface having a highcoefficient of friction may also be contoured. In this example surface707 has a gear profile and is formed of a resilient material to providegood grip.

This design allows a user to rotate the thumb into a desired positionbut still allows reliable gripping by virtue of the thumb rotationlocking mechanism described above. It also absorbs forces due toaccidental impacts to the thumb to avoid damage to the thumb or hand dueto accidental impacts.

A variant of this design is shown in FIG. 32 in which the thumb rotationactuator 702 is pivotally mounted to palm 704 and biased towards aneutral position by spring 711. When force is applied in direction Cduring a gripping movement actuator 702 rotates about pivot point 710 asindicated by double arrow D so that engagement surfaces 706 and 707 comeinto contact and restrict further rotation.ClutchReferring to FIGS. 33 to 41 an overload protection clutch 720 integratedinto a knuckle joint will be described. Referring to FIG. 33 an actuator726 mounted in metacarpal brace 721 located with the palm drives a wormgear 722 which in turn drives gear wheel 723. Gear wheel 723 drives leftand right digit elements 724 and 725 via the overload clutch arrangementas will now be described.Referring to FIG. 34 an exploded view of the overload clutch 720 isshown. Gear wheel 723 rotates freely about axle 730 and has a series oframps 727 provided on either side, one of which is indicated. The ramps727 engage with complimentary ramps formed in clutch plates 728 and 729(see ramps 739 in FIGS. 39 to 41). The clutch plates 728 and 729 arebiased towards gear wheel 723 by disc springs 731 and 732. The entire“assembly” of output plates 733 and 734, disc springs 731 and 732,clutch plates 729 and 729 and axles 730 and 736 are secured together bybolt 735 to form one integral drive unit. The knuckle joint is enclosedwithin housing elements 737 and 738.In normal operation actuator 726 rotates worm wheel 722, which in turnrotates gear wheel 723 (which freely rotates about axle 730). The ramps727 of gear wheel 723 engage complementary ramps of clutch plates 728and 729 which drives the “assembly” to rotate the left and right digitelements 724 and 725. Should an impact force be applied to a digit, orrotation of the digit be restrained at a certain level of force, theramps 739 of the clutch plates 728 and 729 will be driven up against theramps 727 of the gear wheel so as to apply an outward force on theclutch plates 728 and 729 compressing disc springs 731 and 732 until theramp surfaces no longer engage, allowing rotation of clutch plates 728and 729 with respect to gear wheel 723 to relieve the overload forceapplied.Referring to FIGS. 38 to 41 the clutch plate 728 is shown in more detail(clutch plate 729 is identical). In this example four ramp sections 739are shown but any number between 3 to 8 ramp sections may beappropriate. As shown in FIG. 38 ramp face 740 is disposed at an angleof 55° to the flat surface of ramp 739. Whilst the ramp surfaces 727 areshown to be integrally formed on gear wheel 723 it will be appreciatedthat clutch plates could be secured to either side of gear wheel 723instead.FIG. 42 shows an alternate embodiment in which a gear wheel 743 ismounted to palm 744 via a clutch 745 of the type described above. Amotor 742 within digit 741 drives worm gear 746 to cause the finger torotate about the palm. Should an excessive rotational force be appliedto digit 741 then clutch 745 allows rotation of the gear wheel 743 withrespect to the palm so as to allow rotation of the digit 741 withrespect to the palm to relieve the overload force.Integration of the clutch on the gear face provides a compact and lightweight solution with reduced forces on ramp surfaces resulting in lowwear of the clutch plates. The clutch releases consistently under anoverload release force and provides bidirectional protectionWristReferring now to FIGS. 43 to 53 and 55 to 56 an alternate wrist designis shown. Hand 100 is pivotally mounted to wrist 500 via axle 520. Inthis embodiment the wrist locking mechanism is in the form of a rod 750pivotally mounted to wrist 500 via pin 751. Rod 750 has a number ofnotches 752 along its length spaced at suitable intervals to define arange of useful wrist rotations. The locking mechanism includes alocking element 753 having a diverging aperture 754. Locking element 753is biased towards rod 750 by biasing spring 757. Pin 755 projecting fromplate 756 engages within diverging aperture 754. When a stopper 533 ispushed to move sliding arm 532 to the right pin 751 is positioned at theleft of diverging aperture 754 and restricts locking element 753 frombeing forced down to engage with a notch 752. When a stopper 533 ispushed to move sliding arm 532 to the left pin 751 is positioned at theright of diverging aperture 754 and allows locking element 753 to beforced down to engage with a notch 752 by spring 757 (if locking element753 is not positioned adjacent a notch it will remain biased against rod750 until aligned with a notch—at which point it will lock the wrist).FIG. 44 shows the wrist locked in a neutral position. FIG. 46 shows thewrist locked in flexion. FIG. 48 shows the wrist locked in extension.Whilst in the above embodiment a variable length linkage is providedhaving a number of discrete positions a continuously variable linkagemay also be provided with variations as shown in FIGS. 55 and 56. Inthis case a rod 760 is pivotally connected to wrist 500. A collar 762formed of a resilient material is surrounded by metal half collars 763and 764. When a stopper 533 is pushed to move sliding arm 532 to theright pin 751 is positioned at the left of angled aperture 767 andraises locking element 765. When a stopper 533 is pushed to move slidingarm 532 to the left pin 751 is positioned at the right of angledaperture 767 and forced locking element 765 to be forced down againsthalf collar 764 which compresses resilient collar 762 and locks theposition of rod 760 to lock the wrist.By locating the locking mechanism within the palm of the hand the wristcan be of a very short and compact design. Its light and compact designenables a natural looking and functioning wrist. The compact designprovides space for other components in the wrist area helping to reduceoverall size of the hand and allow a fluid compatible design.SubmersibleReferring now to FIGS. 57 to 64 features of design of the palm andmetacarpal block enabling the automated hand to be submersible in fluidwill be described. As shown in FIGS. 61, 62 and 64 the palm consists ofan upper part 210, a lower part 220 and a metacarpal brace 770. In thisembodiment non-circular keyhole shaped apertures 771 are provided in themetacarpal brace to mate with correspondingly shaped actuator housingsto prevent rotation. A seal in the form of an O ring 772 is providedabout the periphery of metacarpal block 770 to form a water tight sealwith lower palm part 220 when the parts are secured together. As theactuators 20 tightly engage with resilient metacarpal block 770 a fluidtight seal is formed at this interface. The knuckle joints are of afluid tight construction to prevent water ingress via the knucklejoints. In this way a sealed palm region (all or part) may be providedto house the motors and electronics in an area that is waterproof whensubmerged in fluid. This allows water ingress in other areas withoutimpacting the functionality of the hand.By providing a sealed palm region and sealing critical components withinliquid can enter the rest of the hand making it submersible and fluidcompatible without the use of a glove.Removable Plates

Referring now to FIGS. 65 and 66 embodiments including removable platesare shown. The hand 800 shown in FIG. 65 includes a cavity 802 in thelower part of the submersible palm dimensioned to receive a plate 803.Apertures 805 are provided in plate 803 to allow it to be secured topalm 801 via suitable fasteners such as screws. The plate 803 may beformed of a rigid material with sections 804 of softer material providedon the surface of plate 803. The softer material may have a Shore Ahardness of between 15 and 90, preferably 50 to 90, with a Shore Ahardness of about 60 being found very effective. Sections 804 of softermaterial may be formed by over-molding or may be affixed thereto etc.These softer sections provide enhanced grip but as they are softer theyare prone to wear and it is convenient to provide replaceable plates.FIG. 65 shows a replaceable plate 808 that may be secured into cavity807 in the upper part of a palm. As well as providing replaceable palmplates fingertips 806 of digits may also be provided with a softmaterial layer to improve grip in a similar manner and these may bereplaceable too. Due to the submersible nature of the palm the platesmay simply be affixed without needing to make any watertight sealbetween the plate and the palm.

Although the invention has been described by way of example, it shouldbe appreciated that variations and modifications may be made withoutdeparting from the scope of the invention as defined in the claims.Furthermore, where known equivalents exist to specific features, suchequivalents are incorporated as if specifically referred in thisspecification.

For example, the invention(s) may also be used in relation to otherautomated and/or prosthetic limbs, such as a foot.

The invention claimed is:
 1. An automated hand comprising: a. a palm; b.one or more resiliently flexible and compressible mounts attached to thepalm wherein each mount is formed of a material having a DMTA dampingfactor of between 0.05 to 0.8 over a temperature range of −20° C. to100° C.; and c. one or more connectors, each having a first end that isdisposed within the palm and a second end with a digit extendingtherefrom that is moveable by an actuator to curve towards or away fromthe palm, each connector mounted to one of the one or more mounts suchthat each connector may rotate about the mount in a plane normal to theplane of the palm when a force is applied to the digit extendingtherefrom, wherein each of the one or more connectors is connected to aproximal phalanx of the digit extending therefrom via an articulatedjoint.
 2. An automated hand as claimed in claim 1 wherein each connectormay rotate in the plane of the palm.
 3. An automated hand as claimed inclaim 1 including a plurality of connectors.
 4. An automated hand asclaimed in claim 1 including a plurality of discrete mounts.
 5. Anautomated hand as claimed in claim 1 wherein the one or more mounts is asingle integrally formed mount.
 6. An automated hand as claimed in claim1 wherein each mount has an aperture formed therein dimensioned toreceive a respective connector.
 7. An automated hand as claimed in claim6 wherein each aperture is non-circular in cross-section and eachconnector has a non-circular cross-section to prevent axial rotation ofthe connector with respect to the mount.
 8. An automated hand as claimedin claim 1, the one or more mounts having a DMTA damping factor ofbetween 0.05 to 0.5.
 9. An automated hand as claimed in claim 1, the oneor more mounts having a resilience of between 20% to 60%.
 10. Anautomated hand as claimed in claim 1, the one or more mounts having aShore A hardness of between 10 to
 90. 11. An automated hand as claimedin claim 1, the one or more mounts having a Shore A hardness of between30 to
 60. 12. An automated hand as claimed in claim 1, the one or moremounts having a Shore D hardness of between 40 to
 90. 13. The automatedhand of claim 1, wherein each digit houses the actuator by which it ismovable.
 14. The automated hand of claim 1 wherein each connector ismounted to one of the one or more mounts with two rotational degrees offreedom such that each connector may rotate about the mount in the planeof the palm and in the plane normal to the plane of the palm.
 15. Theautomated hand of claim 1 wherein each connector comprises an actuator.16. An automated hand comprising: a. a palm; b. one or more resilientlyflexible and compressible mounts attached to the palm, wherein the oneor mounts form a metacarpal brace, and wherein the metacarpal brace ismade of one or more materials of the group consisting of the following:an elastomer, rubber, silicone, a compressible polymer; and c. aplurality of connectors mounted to the metacarpal brace, each connectorhaving a first end that is disposed within the palm and a second endwith a digit extending therefrom that is moveable by an actuator tocurve towards or away from the palm, each connector mounted to one ofthe one or more mounts such that each connector may rotate about themount in a plane normal to the plane of the palm when a force is appliedto the digit extending therefrom, wherein each of the one or moreconnectors is connected to a proximal phalanx of the digit extendingtherefrom via an articulated joint.
 17. An automated hand as claimed inclaim 16 wherein the metacarpal brace has such resilience that at leasttwo digits may be splayed apart by at least 5 degrees due to relativemovement between the connector and palm allowed by elastic deformationof the metacarpal brace.
 18. An automated hand as claimed in claim 17wherein the metacarpal brace has such resilience that at least twodigits may be splayed apart by at least 10 degrees due to relativemovement between the connector and palm allowed by elastic deformationof the metacarpal brace.
 19. An automated hand as claimed in claim 17wherein the metacarpal brace has such resilience that at least twodigits may be splayed apart by at least 20 degrees due to relativemovement between the connector and palm allowed by elastic deformationof the metacarpal brace.
 20. An automated hand as claimed in claim 16wherein the metacarpal brace provides impact absorption for forcesapplied to a digit in a direction normal to the palm such that eachconnector may rotate by at least 2 degrees relative to the palm due toelastic deformation of the metacarpal brace.
 21. An automated hand asclaimed in claim 20 wherein each connector may rotate by at least 5degrees relative to the palm.
 22. An automated hand as claimed in claim20 wherein each connector may rotate by at least 10 degrees relative tothe palm.
 23. An automated hand as claimed in claim 16 wherein themetacarpal brace is formed of a material having a Shore A hardness ofabout
 30. 24. An automated hand as claimed in claim 16 wherein a lateralforce of between 2.5 and 20 Newtons applied to the tip of a digitresults in angular rotation with respect to the palm in the plane of thepalm of at least 3 degrees due to elastic deformation of the metacarpalbrace.
 25. An automated hand as claimed in claim 24 wherein the angularrotation is at least 5 degrees.
 26. An automated hand as claimed inclaim 16 wherein a force of between 2.5 and 20 Newtons applied to thetip of a digit in a direction normal to the palm results in angularrotation of the digit relative to the palm of at least 3 degrees due toelastic deformation of the metacarpal brace.
 27. An automated hand asclaimed in claim 26 wherein the angular rotation is at least 5 degrees.28. The automated hand of claim 16, wherein the metacarpal brace is madeof a hydrocarbon, fluorocarbon or silica-based thermoset elastomer. 29.The automated hand of claim 16, wherein the metacarpal brace is made ofa thermoplastic elastomer.
 30. The automated hand of claim 16, whereinthe metacarpal brace is made of a thermoset rubber.
 31. The automatedhand of claim 16, wherein the metacarpal brace is made of athermoplastics material.
 32. The automated hand of claim 31, wherein themetacarpal brace is made of an inherently soft thermoplastics material.33. The automated hand of claim 16, wherein the metacarpal brace is madeof a foamed composition based on any of these polymers.
 34. Theautomated hand of claim 16, wherein the metacarpal brace is made of analloy or blend of such a material.
 35. The automated hand of claim 16,wherein each digit houses the actuator by which it is movable.